主催: (社)計測自動制御学会システムインテグレーション部門
p. 290
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 second report, we explain the upper system. The upper level generates an optimal sequence of actions using timed Petri nets.