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Towards formal synthesis of reactive controllers for dexterous robotic manipulation

Chinchali, Sandeep and Livingston, Scott C. and Topcu, Ufuk and Burdick, Joel W. and Murray, Richard M. (2012) Towards formal synthesis of reactive controllers for dexterous robotic manipulation. In: 2012 IEEE International Conference on Robotics and Automation (ICRA). IEEE , Piscataway, NJ, pp. 5183-5189. ISBN 978-1-4673-1403-9. https://resolver.caltech.edu/CaltechAUTHORS:20120703-085636525

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Abstract

In robotic finger gaiting, fingers continuously manipulate an object until joint limitations or mechanical limitations periodically force a switch of grasp. Current approaches to gait planning and control are slow, lack formal guarantees on correctness, and are generally not reactive to changes in object geometry. To address these issues, we apply advances in formal methods to model a gait subject to external perturbations as a two-player game between a finger controller and its adversarial environment. High-level specifications are expressed in linear temporal logic (LTL) and low-level control primitives are designed for continuous kinematics. Simulations of planar manipulation with our synthesized correct-by-construction gait controller demonstrate the benefits of this approach.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
http://dx.doi.org/10.1109/ICRA.2012.6225257DOIArticle
http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6225257&isnumber=6224548PublisherArticle
ORCID:
AuthorORCID
Murray, Richard M.0000-0002-5785-7481
Additional Information:© 2012 IEEE. Date of Current Version: 28 June 2012. This work is partially supported by the Boeing Corporation.
Funders:
Funding AgencyGrant Number
Boeing CorporationUNSPECIFIED
Record Number:CaltechAUTHORS:20120703-085636525
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20120703-085636525
Official Citation:Chinchali, Sandeep; Livingston, Scott C.; Topcu, Ufuk; Burdick, Joel W.; Murray, Richard M.; , "Towards formal synthesis of reactive controllers for dexterous robotic manipulation," Robotics and Automation (ICRA), 2012 IEEE International Conference on , vol., no., pp.5183-5189, 14-18 May 2012 doi: 10.1109/ICRA.2012.6225257 URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=6225257&isnumber=6224548
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:32247
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:06 Jul 2012 21:01
Last Modified:03 Oct 2019 03:59

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