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The Motion Grammar: Analysis of a Linguistic Method for Robot Control

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2 Author(s)
Dantam, N. ; Dept. of Interactive Comput., Georgia Inst. of Technol., Atlanta, GA, USA ; Stilman, M.

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.

Published in:

Robotics, IEEE Transactions on  (Volume:29 ,  Issue: 3 )