Correct software synthesis for stable speed-controlled robotic walking


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.

Robotics: Science and Systems
Ayonga Hereid
Ayonga Hereid
Assistant Professor of Mechanical Engineering

My research aims to develop computational and theoretical tools to mitigate the high dimensionality and nonlinearity present in robot control and motion planning problems.