Robot Creation from Functional Specifications

  • Ankur M. MehtaEmail author
  • Joseph DelPreto
  • Kai Weng Wong
  • Scott Hamill
  • Hadas Kress-Gazit
  • Daniela Rus
Part of the Springer Proceedings in Advanced Robotics book series (SPAR, volume 3)


The design of new robots is often a time-intensive task requiring multi-disciplinary expertise, making it difficult to create custom robots on demand. To help address these issues, this work presents an integrated end-to-end system for rapidly creating printable robots from a Structured English description of desired behavior. Linear temporal logic (LTL) is used to formally represent the functional requirements from a structured task specification, and a modular component library is used to ground the propositions and generate structural specifications; complete mechanical, electrical, and software designs are then automatically synthesized. The ability and versatility of this system are demonstrated by sample robots designed in this manner.



This work was funded in part by NSF ExCAPE and grants #1240383 and #1138967 and NSF Graduate Research Fellowship 1122374, for which the authors express thanks.


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Copyright information

© Springer International Publishing AG 2018

Authors and Affiliations

  • Ankur M. Mehta
    • 1
    Email author
  • Joseph DelPreto
    • 2
  • Kai Weng Wong
    • 3
  • Scott Hamill
    • 3
  • Hadas Kress-Gazit
    • 3
  • Daniela Rus
    • 2
  1. 1.University of California, Los AngelesLos AngelesUSA
  2. 2.Massachusetts Institute of TechnologyCambridgeUSA
  3. 3.Cornell UniversityIthacaUSA

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