Motion Planning for Humanoid Robots Using Timed Petri Nets and Modular State Nets
Keigo KOBAYASHI, Atsuhito NAKATANI, Hideyuki TAKAHASHI, Toshimitsu USHIO
In this paper, 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.