Title :
Motion planning for humanoid robots using timed Petri net and modular state net
Author :
Kobayashi, Keigo ; Nakatani, Atsuhito ; Takahashi, Hideyuki ; Ushio, Toshi
Author_Institution :
Osaka Univ., Japan
Abstract :
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.
Keywords :
Petri nets; directed graphs; mobile robots; path planning; hierarchically structured system; humanoid robots; modular state net; motion planning; optimal motion sequence generation; optimal path planning; supervisory control system; timed Petri net; Biological system modeling; Humanoid robots; Level control; Motion planning; Orbital robotics; Petri nets; Robot kinematics; Robot sensing systems; Stationary state; Tin;
Conference_Titel :
Systems, Man and Cybernetics, 2002 IEEE International Conference on
Print_ISBN :
0-7803-7437-1
DOI :
10.1109/ICSMC.2002.1175609
