Robotics: Science and Systems IX

Correct Software Synthesis for Stable Speed-Controlled Robotic Walking

Neil Dantam, Ayonga Hereid, Aaron Ames, Mike Stilman


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 supervisors 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.



    AUTHOR    = {Neil Dantam AND Ayonga Hereid AND Aaron Ames AND Mike Stilman}, 
    TITLE     = {Correct Software Synthesis for Stable Speed-Controlled Robotic Walking}, 
    BOOKTITLE = {Proceedings of Robotics: Science and Systems}, 
    YEAR      = {2013}, 
    ADDRESS   = {Berlin, Germany}, 
    MONTH     = {June},
    DOI       = {10.15607/RSS.2013.IX.040}