多脚移動ロボットの制約充足型統合制御

2021南山大学多脚移動ロボットの制約充足型統合制御2019～2021年度科学研究費助成事業 (基盤研究 (B) (一般)) 研究成果報告

Cutting a Parameter Space for a Multi-Legged Robot Based on Model Checking

This paper proposes a technique to cut a parameter space in dynamic simulations based on model checking. The design object addressed in this paper is a multi-legged robot which is controlled by a Follow-the-Contact-Point (FCP) gait control. The design parameters are about both the walk controller and the robot construction, but the parameter space is too wide to evaluate by the dynamic simulation. The robot behavior is modelled by timed-automata, and specifications for the robot to successfully walk are described in a computational tree logic (CTL). The proposed method is based on repetition of applying model checking, UPPAAL, to each set of parameters. Its availability is shown by adopting the proposed technique to designing a multi-legged robot