Abstract

We present the Motion Grammar: an approach to represent and verify robot control policies based on context-free grammars. The production rules of the grammar represent a top-down task decomposition of robot behavior. The terminal symbols of this language represent sensor readings that are parsed in real time. Efficient algorithms for context-free parsing guarantee that online parsing is computationally tractable. We analyze verification properties and language constraints of this linguistic modeling approach, show a linguistic basis that unifies several existing methods, and demonstrate effectiveness through experiments on a 14-degree-of-freedom (DOF) manipulator interacting with 32 objects (chess pieces) and an unpredictable human adversary. We provide many of the algorithms discussed as Open Source, permissively licensed software.


Type

Journal Article

Volume

29

Date

June 2013

Creators

Dantam, N. (Author)
Stilman, M. (Author)

Issue

3

DOI
10.1109/TRO.2013.2239553


Professional Fields