3934 Walking Robot Locomotion by Object Oriented Petri Net Control Structure
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概要
- 論文の詳細を見る
While generating gaits for it's walking the legged robots has to perform many tasks. Though the basic tasks are few but they may be needed to work concurrently. This requirement can be fulfilled by modeling the basic tasks as objects. These objects are basically the control functions that are to be executed synchronously to perform stable locomotion. We adopted Petri Net formalism for coordination among the control tasks, modeled as objects, which enabled us to implement a very robust walking robot locomotion system that is capable of sharing the objects concurrently.
- 一般社団法人日本機械学会の論文
- 2005-09-18
著者
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Nonami Kenzo
Department Of Electronics And Mechanical Engineering Chiba University
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Barai Ranjit
Graduate School Of Science And Technology Chiba University
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Nonami Kenzo
Department For Electronics And Mechanical Engineering University Of Chiba
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