Motion planning for humanoid robots using timed Petri net and modular state net
Kensuke Kobayashi, Akihiro NAKATANI, Hideyuki Takahashi, Toshimitsu Ushio · 2003
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.