Title :
Specifying and verifying visual grasping tasks
Author :
Shkel, Eugenia ; Ferrier, Nicola J.
Author_Institution :
Dept. of Mech. Eng., Wisconsin Univ., Madison, WI, USA
Abstract :
This paper presents an approach to the specification of requirements, and verification of design, for a robot or other intelligent system. The approach is demonstrated on a typical robotic task-visual grasping. Formal mathematical reasoning is used to show that a design conforms to the system requirements. Typically the requirements define safety and functionality constraints on the system and components. Formal analysis allows the system designer to evaluate the system behavior and verify the system parameters that guarantee safe and robust system performance
Keywords :
finite automata; formal specification; formal verification; hierarchical systems; intelligent control; manipulators; specification languages; design verification; formal analysis; formal mathematical reasoning; functionality constraints; intelligent system; robot; safety; specification; visual grasping; visual grasping tasks; Calculus; Control systems; Delay; Intelligent robots; Intelligent systems; Mechanical engineering; Performance analysis; Real time systems; Robotics and automation; Robustness;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.620116
