Applications of Discrete Event and Hybrid Systems in Humanoid Robots

• USHIO Toshimitsu

  Graduate School of Engineering Science, Osaka University

• KOBAYASHI Keigo

  Faculty of Engineering, Kyushu Institute of Technology

• ADACHI Masakazu

  Graduate School of Engineering Science, Osaka University

• TAKAHASHI Hideyuki

  Graduate School of Engineering Science, Osaka University

• NAKATANI Atsuhito

  Graduate School of Engineering Science, Osaka University

Abstract

This paper considers a motion planning method for humanoid robots. First, we review a modular state net which is a state net representing behavior 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.

Journal

• IEICE Trans. Fundamentals, A

  IEICE Trans. Fundamentals, A 87 (11), 2834-2843, 2004-11-01

  The Institute of Electronics, Information and Communication Engineers

Keywords

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

Details

• CRID: 1572543027347953152
• NII Article ID: 110003212812
• NII Book ID: AA10826239
• ISSN: 09168508
• Text Lang: en
• Data Source:
  • CiNii Articles