Examining robotic systems with shape-adjustable manipulators under dynamic environments: from simulation to verification

Authors:
Chih-Hong Cheng;Alois Knoll;Christian Buckl;Javier Esparza;Yang Chen
Affiliations:
Department of Informatics, TU München, Garching, Germany;Department of Informatics, TU München, Garching, Germany;fortiss GmbH, Munich, Germany;Department of Informatics, TU München, Garching, Germany;Department of Informatics, TU München, Garching, Germany
Venue:
CIRA'09 Proceedings of the 8th IEEE international conference on Computational intelligence in robotics and automation
Year:
2009

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Abstract

In this paper, we present our preliminary report in applying formal verification to the design process of robotic systems under dynamic environments; the goal is to complement existing testing or simulation techniques by experimenting an adaptable framework, where verification models with tamable complexity are generated from the simulation model. Our targets are robotic systems with shape-adjustable manipulators (e.g., robot arms), which in essence bring different challenges compared to existing research. By investigating the problem structure, we propose ingredients for successful verification of such systems, conduct experiments, and outline future studies.