Correct Software Synthesis for Stable Speed-Controlled Robotic Walking

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Date
2013-06Author
Dantam, Neil
Hereid, Ayonga
Ames, Aaron
Stilman, Mike
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Show full item recordAbstract
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.