Computer-Aided Compositional Design and Verification for Modular Robots

TitleComputer-Aided Compositional Design and Verification for Modular Robots
Publication TypeConference Paper
Year of Publication2015
AuthorsTuson, T, Jing, G, Kress-Gazit, H, Yim, M
Conference NameThe International Symposium on Robotics Research
Date Published09/2015
Conference LocationSestri Levante, Italy
To take full advantage of the flexibility of a modular robot system,
users must be able to create and verify new configurations and behaviors quickly. We
present a design framework  that facilitates  rapid creation of new
configurations and behaviors through composition of existing ones, and tools to
verify configurations and behaviors as they are being created. New
configurations are created by combining existing sub-configurations, for example
combining four legs and a body to create a walking robot. Behaviors are
associated with each configuration, so that when sub-configurations are
composed, their associated behaviors are immediately available for composition
as well. We introduce a new motion description language (Series-Parallel Action
Graphs) that facilitates the rapid creation of complex behaviors by composition
of simpler behaviors. We provide tools that automatically verify configurations
and behaviors during the design process, allowing the user to identify problems
early and iterate quickly. In addition to verification, users can  evaluate their
configurations and behaviors in a physics-based simulator.