Motion Realization of Humanoid Robots Based on LLP Supervisory Control and State Nets

(1)—Motion Control Using Modular State Nets—

Abstract

In this report, we propose a supervisory control system for motion planning of humanoid robots. The proposed system is hierarchically structured into two levels. The upper system takes charge of the motion planning, and the lower system controls and monitors the motion. In this first report, we explain the lower system. The lower level controls and monitors the robots using modular state nets.