Modeling Humanoid Robot as a Discrete Event System: A Modular Approach Based on Petri Nets

R. Davidrajuh
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引用次数: 3

Abstract

This paper presents an approach to model a humanoid robot as a discrete event system, the approach is based on Petri Nets. Firstly, this paper proposes representation of a human body with a system of ten interrelated links. Secondly, each link is modelled as a Petri net module resulting in ten independent modules. Thirdly, this paper proposes use of a command-dispatcher module to coordinate all the other modules, thus, the command-dispatcher module acts as the brain of the robot. Finally, as shown in the final section, the modular Petri Net based model can be easily used for model based control of a humanoid robot.
仿人机器人离散事件系统建模:基于Petri网的模块化方法
提出了一种基于Petri网的仿人机器人离散事件系统建模方法。首先,本文提出了一个由十个相互关联的环节组成的系统来表示人体。其次,将每个环节建模为一个Petri网模块,形成10个独立模块。第三,本文提出使用命令调度模块来协调所有其他模块,从而使命令调度模块充当机器人的大脑。最后,如最后一节所示,基于模块化Petri网的模型可以很容易地用于基于模型的人形机器人控制。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
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