Statecharts: A visual formalism for complex systems
Science of Computer Programming
Studies in hybrid systems: modeling, analysis, and control
Studies in hybrid systems: modeling, analysis, and control
HSCC '02 Proceedings of the 5th International Workshop on Hybrid Systems: Computation and Control
HYTECH: A Model Checker for Hybrid Systems
CAV '97 Proceedings of the 9th International Conference on Computer Aided Verification
LICS '96 Proceedings of the 11th Annual IEEE Symposium on Logic in Computer Science
RTSS '95 Proceedings of the 16th IEEE Real-Time Systems Symposium
HSCC '02 Proceedings of the 5th International Workshop on Hybrid Systems: Computation and Control
Robotics and Computer-Integrated Manufacturing
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Robotic assemblies are inherently hybrid systems. This paper pursues a class of multi-tiered peg-in-hole assemblies that we call pegin-maze assemblies. These assemblies require a force-responsive, low-level controller governing physical contacts plus a decision-making, strategiclevel supervisor monitoring the overall progress. To capture this dichotomy we formulate hybrid automata, where each state represents a different force-controlled behavior and transitions between states encode the high-level strategy of the assembly. Each of these behaviors is set in 6-dimensional space, and each dimension is parameterized by spring and damper values (an impedance controller). Our over-arching goal is to produce a computational framework for the verification and synthesis of such force-guided robotic assembly strategies. We investigate the use of two general hybrid systems software tools (HyTech and CEtool) for the verification of these strategies. We describe a computational environment developed at Case to help automate their synthesis. The implementation of these strategies on actual robotic assemblies is also described.