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    Correct Software Synthesis for Stable Speed-Controlled Robotic Walking

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    Date
    2013-06
    Author
    Dantam, Neil
    Hereid, Ayonga
    Ames, Aaron
    Stilman, Mike
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    Abstract
    We present a software synthesis method for speed- controlled robot walking based on supervisory control of a context-free Motion Grammar. First, we use Human-Inspired control to identify parameters for fixed speed walking and for transitions 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 C code from this grammar and generate supervisors¹ online to achieve desired walking speeds, guaranteeing correctness of discrete computation. Finally, we demonstrate this approach on the Aldebaran NAO, showing stable walking transitions with dynamically selected speeds.
    URI
    http://hdl.handle.net/1853/48196
    Collections
    • Advanced Mechanical Bipedal Experimental Robotics Lab (AMBER) [17]
    • Advanced Mechanical Bipedal Experimental Robotics Lab (AMBER) Publications [17]
    • Humanoid Robotics Laboratory [49]
    • Humanoid Robotics Laboratory Publications [49]

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