Hybrid system behavior specification for multiple robotic mechanisms

In this paper we propose a novel approach to reference behavior specification for multiple robotic mechanisms using hybrid system models. Hybrid automata can specify discrete states (operational modes) and continuous variable reference values in one unified framework. An example mechanism with 3 degrees-of-freedom and a 6-legged walking machine with a combination of several hybrid automata for reference generation and synchronization are discussed. Simulation results show that a hybrid system model is an effective method for robotic behavior specification. Using a model verification tool we show that behavior correctness verification and parametric analysis are possible.