Applications of Discrete Event and Hybrid Systems in Humanoid Robots
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- USHIO Toshimitsu
- Graduate School of Engineering Science, Osaka University
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- KOBAYASHI Keigo
- Faculty of Engineering, Kyushu Institute of Technology
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- ADACHI Masakazu
- Graduate School of Engineering Science, Osaka University
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- TAKAHASHI Hideyuki
- Graduate School of Engineering Science, Osaka University
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- NAKATANI Atsuhito
- Graduate School of Engineering Science, Osaka University
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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
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- IEICE Trans. Fundamentals, A
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IEICE Trans. Fundamentals, A 87 (11), 2834-2843, 2004-11-01
The Institute of Electronics, Information and Communication Engineers
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Details 詳細情報について
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- CRID
- 1572543027347953152
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- NII Article ID
- 110003212812
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- NII Book ID
- AA10826239
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- ISSN
- 09168508
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- Text Lang
- en
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- Data Source
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- CiNii Articles