Correct Software Synthesis for Stable Speed-Controlled Robotic Walking

Dantam, Neil T.; Hereid, Ayonga; Ames, Aaron D.; Stilman, Mike

doi:10.15607/rss.2013.ix.040

Cited by 6 publications

(4 citation statements)

References 29 publications

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“…It can solve the Head-of-Line Blocking problem, which makes it suitable for robotic scenarios. It is integrated to multiple robots such as Golem Krang [18] and Aldebaran NAO [19]. It is also employed by the RTROS project [20].…”

Section: B Ipc Methods In Robotics Middlewarementioning

confidence: 99%

TZC: Efficient Inter-Process Communication for Robotics Middleware with Partial Serialization

Wang

Tan

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Inter-process communication (IPC) is one of the core functions of modern robotics middleware. We propose an efficient IPC technique called TZC (Towards Zero-Copy). As a core component of TZC, we design a novel algorithm called partial serialization. Our formulation can generate messages that can be divided into two parts. During message transmission, one part is transmitted through a socket and the other part uses shared memory. The part within shared memory is never copied or serialized during its lifetime. We have integrated TZC with ROS and ROS2 and find that TZC can be easily combined with current open-source platforms. By using TZC, the overhead of IPC remains constant when the message size grows. In particular, when the message size is 4MB (less than the size of a full HD image), TZC can reduce the overhead of ROS IPC from tens of milliseconds to hundreds of microseconds and can reduce the overhead of ROS2 IPC from hundreds of milliseconds to less than 1 millisecond. We also demonstrate the benefits of TZC by integrating it with TurtleBot2 to be used in autonomous driving scenarios. We show that by using TZC, the braking distance can be 16% shorter than with ROS.

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Section: B Ipc Methods In Robotics Middlewarementioning

confidence: 99%

TZC: Efficient Inter-Process Communication for Robotics Middleware with Partial Serialization

Wang

Tan

et al. 2019

2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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“…[2012a], , Dantam et al [2013]. In addition, the application of these methods to underactuated robots 31 was considered in Ames [2012] and the results have been demonstrated in practice in ], Yadukumar et al [2013.…”

Section: Human-inspired Output Functionsmentioning

confidence: 99%

“…How to turn without violating unilateral ground contact constraints is not explained in this work. In , Dantam et al [2013], a method for speed regulation in 3D walking robots is presented through the notion of motion primitives and transitions based upon hybrid zero dynamics surfaces. This gives formal guarantees of correct behavior when walking at different speeds and transitioning between them, along with methods for automatically synthesizing code that experimentally realizes the formal results.…”

Section: Challengesmentioning

confidence: 99%

Models, feedback control, and open problems of 3D bipedal robotic walking

Grizzle¹,

Chevallereau²,

Sinnet³

et al. 2014

Automatica

295

239

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The fields of control and robotics are working toward the development of bipedal robots that can realize walking motions with the stability and agility of a human being. Dynamic models for bipeds are hybrid in nature. They contain both continuous and discrete elements, with switching events that are governed by a combination of unilateral constraints and impulse-like forces that occur at foot touchdown. Control laws for these machines must be hybrid as well. The goals of this paper are fourfold: highlight certain properties of the models which greatly influence the control law design; overview the literature; present two control design approaches in depth; and indicate some of the many open problems.

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“…Robot behavior can also be repaired by dynamic synthesis of new control structures and through program synthesis [29], such as automatic synthesis of new FSMs [30], synthesis of code from a context-free motion grammar with parameters derived from human-inspired control [31]. Programming by example synthesizes programs from a small number of examples [32] and can also support noisy data [33].…”

Section: Behavior Synthesismentioning

confidence: 99%

Interactive Robot Transition Repair With SMT

Holtz

Guha

Biswas

2018

Proceedings of the Twenty-Seventh International Joint Conference on Artificial Intelligence

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Complex robot behaviors are often structured as state machines, where states encapsulate actions and a transition function switches between states. Since transitions depend on physical parameters, when the environment changes, a roboticist has to painstakingly readjust the parameters to work in the new environment. We present interactive SMTbased Robot Transition Repair (SRTR): instead of manually adjusting parameters, we ask the roboticist to identify a few instances where the robot is in a wrong state and what the right state should be. An automated analysis of the transition function 1) identifies adjustable parameters, 2) converts the transition function into a system of logical constraints, and 3) formulates the constraints and user-supplied corrections as a MaxSMT problem that yields new parameter values. We show that SRTR finds new parameters 1) quickly, 2) with few corrections, and 3) that the parameters generalize to new scenarios. We also show that a SRTR-corrected state machine can outperform a more complex, expert-tuned state machine.

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Correct Software Synthesis for Stable Speed-Controlled Robotic Walking

Cited by 6 publications

References 29 publications

TZC: Efficient Inter-Process Communication for Robotics Middleware with Partial Serialization

TZC: Efficient Inter-Process Communication for Robotics Middleware with Partial Serialization

Models, feedback control, and open problems of 3D bipedal robotic walking

Interactive Robot Transition Repair With SMT

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