Applications of discrete event and hybrid systems in humanoid robots

被引：0

作者：

Ushio, T ^{[1
]}

Kobayashi, K

Adachi, M

Takahashi, H

Nakatani, A

机构：

[1] Osaka Univ, Grad Sch Engn Sci, Toyonaka, Osaka 5608531, Japan

[2] Kyushu Inst Technol, Fac Engn, Iizuka, Fukuoka 8208502, Japan

来源：

IEICE TRANSACTIONS ON FUNDAMENTALS OF ELECTRONICS COMMUNICATIONS AND COMPUTER SCIENCES | 2004年 / E87A卷 / 11期

关键词：

discrete event systems; hybrid state net; humanoid robot; motion; generation; planning;

D O I：

暂无

中图分类号：

TP3 [计算技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper considers a motion planning method for humanoid robots. First, we review a modular state net which is a state net representing behaviour of a part of the humanoid robots. Each whole body motion of the humanoid robots is represented by a combination of modular state nets for those parts. In order to obtain a feasible path of the whole body, a timed Petri net is used as an abstracted model of a set of all modular state nets. Next, we show an algorithm for constructing nonlinear dynamics which describes a periodic motion. Finally, we extend the state net in order to represent primitive periodic motions and their transition relation so that we can generate a sequence of primitive periodic motions satisfying a specified task.

引用

页码：2834 / 2843

页数：10

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