NDLI: High-level control of modular robots

Content Provider	IEEE Xplore Digital Library
Author	Castro, Sebastian Koehler, Sarah Kress-Gazit, Hadas
Copyright Year	2011
Description	Author affiliation: Sibley School of Mechanical and Aerospace Engineering, Cornell University, Ithaca NY, USA (Castro, Sebastian; Koehler, Sarah; Kress-Gazit, Hadas)
Abstract	This paper discusses the creation of provably correct control for modular robots from high-level tasks expressed using sentences in structured English. Due to the nature of modular robots, we address problems that include requirements on the geometry and motion characteristics of the robot; these requirements are captured using traits in the specification that are then used in the control generation process. Outlined in this paper is our approach for generating all the lower levels of control for a modular robot given the high-level problem statement. The approach includes the use of a configuration-gait-trait library for characterizing modular robots and tools for populating this library such as a physics-based simulator and gait creator. The approach is demonstrated in simulation and with the CKBot hardware platform.
Starting Page	3120
Ending Page	3125
File Size	1346268
Page Count	6
File Format	PDF
ISBN	9781612844541
ISSN	21530858
e-ISBN	9781612844565
DOI	10.1109/IROS.2011.6094955
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-09-25
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Robot sensing systems Libraries Automata Hardware Springs
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
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9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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