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Applications of Discrete Event and Hybrid Systems in Humanoid Robots
Toshimitsu USHIO Keigo KOBAYASHI Masakazu ADACHI Hideyuki TAKAHASHI Atsuhito NAKATANI
IEICE TRANSACTIONS on Fundamentals of Electronics, Communications and Computer Sciences
Publication Date: 2004/11/01
Print ISSN: 0916-8508
Type of Manuscript: INVITED PAPER (Special Section on Concurrent Systems and Hybrid Systems)
discrete event systems, hybrid state net, humanoid robot, motion generation, planning,
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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.