Applications of Discrete Event and Hybrid Systems in Humanoid Robots

被引用文献2件 参考文献18件

この論文をさがす

抄録

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.

収録刊行物

被引用文献 (2)*注記

もっと見る

参考文献 (18)*注記

もっと見る

キーワード

詳細情報 詳細情報について

  • CRID
    1572543027347953152
  • NII論文ID
    110003212812
  • NII書誌ID
    AA10826239
  • ISSN
    09168508
  • 本文言語コード
    en
  • データソース種別
    • CiNii Articles

問題の指摘

ページトップへ