Correct Software Synthesis for Stable Speed-Controlled Robotic WalkingReportar como inadecuado


Correct Software Synthesis for Stable Speed-Controlled Robotic Walking


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We present a software synthesis method for speed-controlled robot walking based on supervisory control of acontext-free Motion Grammar. First, we use Human-Inspiredcontrol to identify parameters for fixed speed walking and fortransitions between fixed speeds, guaranteeing dynamic stability.Next, we build a Motion Grammar representing the discrete-time control for this set of speeds. Then, we synthesize Ccode from this grammar and generate supervisors¹ online toachieve desired walking speeds, guaranteeing correctness ofdiscrete computation. Finally, we demonstrate this approach onthe Aldebaran NAO, showing stable walking transitions withdynamically selected speeds.



Advanced Mechanical Bipedal Experimental Robotics Lab AMBER Publications - Advanced Mechanical Bipedal Experimental Robotics Lab AMBER - Humanoid Robotics Laboratory - Humanoid Robotics Laboratory Publications -



Autor: Dantam, Neil - Hereid, Ayonga - Ames, Aaron - Stilman, Mike - -

Fuente: https://smartech.gatech.edu/







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