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Combining Static and Runtime Methods to Achieve Safe Standing-Up for Humanoid Robots

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Leveraging Applications of Formal Methods, Verification and Validation: Foundational Techniques (ISoLA 2016)

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Abstract

Due to its complexity, the standing-up task for robots is highly challenging, and often implemented by scripting the strategy that the robot should execute per hand. In this paper we aim at improving the approach of a scripted stand-up strategy by making it more stable and safe. To achieve this aim, we apply both static and runtime methods by integrating reinforcement learning, static analysis and runtime monitoring techniques.

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Notes

  1. 1.

    Yet unpublished, developed by Christian Dehnert, RWTH Aachen University, Germany.

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Author information

Authors and Affiliations

  1. University of Genoa, Genoa, Italy

    Francesco Leofante, Simone Vuotto & Armando Tacchella

  2. RWTH Aachen University, Aachen, Germany

    Simone Vuotto & Erika Ábrahám

  3. University of Texas at Austin, Austin, USA

    Nils Jansen

Authors
  1. Francesco Leofante
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  2. Simone Vuotto
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  3. Erika Ábrahám
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  4. Armando Tacchella
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  5. Nils Jansen
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Corresponding author

Correspondence to Armando Tacchella .

Editor information

Editors and Affiliations

  1. Lero, Limerick, Ireland

    Tiziana Margaria

  2. TU Dortmund, Dortmund, Germany

    Bernhard Steffen

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Leofante, F., Vuotto, S., Ábrahám, E., Tacchella, A., Jansen, N. (2016). Combining Static and Runtime Methods to Achieve Safe Standing-Up for Humanoid Robots. In: Margaria, T., Steffen, B. (eds) Leveraging Applications of Formal Methods, Verification and Validation: Foundational Techniques. ISoLA 2016. Lecture Notes in Computer Science(), vol 9952. Springer, Cham. https://doi.org/10.1007/978-3-319-47166-2_34

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  • DOI: https://doi.org/10.1007/978-3-319-47166-2_34

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-47165-5

  • Online ISBN: 978-3-319-47166-2

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