Hybrid system behavior specification for multiple robotic mechanisms

for Multiple Robotic Mechanisms Martin Buss G unther Schmidt Department of Automatic Control Engineering Technical University of Munich D-80290 M unchen, Germany E-mail: martin/[email protected] This paper is published in the Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems IROS, pp. 140-147, Osaka, Japan, 1996. Abstract In this paper we propose a novel approach to reference behavior speci cation for multiple robotic mechanisms using hybrid system models. Hybrid automata can specify discrete states (operational modes) and continuous variable reference values in one uni ed framework. An example mechanism with 3 degrees-offreedom 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 e ective method for robotic behavior speci cation. Using a model veri cation tool we show that behavior correctness veri cation and parametric analysis are possible.