Robot Creation from Functional Specifications
Robot Creation from Functional Specifications
复制标题
从功能规范创建机器人
DOI：
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发表时间：
2015
期刊：
影响因子：
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通讯作者：
D. Rus
中科院分区：
文献类型：
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作者：
Ankur M. Mehta;Joseph DelPreto;K. W. Wong;Scott Hamill;H. Kress;D. Rus
新机器人的设计通常是一项耗时的任务，需要多学科的专业知识，这使得根据需求创建定制机器人变得困难。为了帮助解决这些问题，这项工作提出了一个集成的端到端系统，用于从期望行为的结构化英语描述快速创建可打印的机器人。使用线性时间逻辑（LTL）形式化表示结构化任务规范中的功能需求，使用模块化组件库将命题接地并生成结构化规范；然后自动合成完整的机械、电气和软件设计。该系统的能力和通用性通过以这种方式设计的样品机器人得到验证。
The design of new robots is often a time-intensive task requiring multi-disciplinary expertise, making it difficult to create custom robots on demand. To help address these issues, this work presents an integrated end-to-end system for rapidly creating printable robots from a Structured English description of desired behavior. Linear temporal logic (LTL) is used to formally represent the functional requirements from a structured task specification, and a modular component library is used to ground the propositions and generate structural specifications; complete mechanical, electrical, and software designs are then automatically synthesized. The ability and versatility of this system are demonstrated by sample robots designed in this manner.