Transactions of the Institute of Systems, Control and Information Engineers
Online ISSN : 2185-811X
Print ISSN : 1342-5668
ISSN-L : 1342-5668
Motion Planning for Humanoid Robots Using Timed Petri Nets and Modular State Nets
Keigo KOBAYASHIAtsuhito NAKATANIHideyuki TAKAHASHIToshimitsu USHIO
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2003 Volume 16 Issue 10 Pages 493-499

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Abstract

In this paper, we propose a supervisory control system for motion planning of humanoid robots. The proposed system is hierarchically structured into two levels. The lower level controls and monitors the robots using modular state nets. The upper level generates an optimal sequence of motion for user's requirements using timed Petri nets.

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