Hybrid system behavior specification for multiple robotic mechanisms

Martin Buss, Guenther Schmidt

Research output: Contribution to conferencePaperpeer-review

16 Scopus citations

Abstract

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.

Original languageEnglish
Pages140-147
Number of pages8
StatePublished - 1996
EventProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3) - Osaka, Jpn
Duration: 4 Nov 19968 Nov 1996

Conference

ConferenceProceedings of the 1996 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. Part 3 (of 3)
CityOsaka, Jpn
Period4/11/968/11/96

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