This paper presents a component-based framework of humanoidrobottaskcoordination using Predicate Transition Nets (PrT Nets). humanoidrobots have a large number of degrees of freedom (DOF) and they are expected to ...
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(纸本)9781479934652
This paper presents a component-based framework of humanoidrobottaskcoordination using Predicate Transition Nets (PrT Nets). humanoidrobots have a large number of degrees of freedom (DOF) and they are expected to generate human-like stable behaviors to finish missions. Their motions have to satisfy a set of constraints (balance, coordinated motions, collision free movements), which increases the complexity of the system - each movement may consist of several types of movements and tasks simultaneously. task is defined as a sequence of movements and/or actions towards to completing a given mission. It is key to represent the taskcoordination precisely and correctly to program on humanoidrobots' motions. To solve the challenge issue of multiple taskcoordination for a humanoidrobot, we presented a framework that integrates Component Based Software Development (CBSD) with Predicate Transition Nets to analyze the correctness of taskcoordinations. Each component's behavior can be represented by a Predicate Transition Net, and the constraints of the behaviors are described by a set of temporal logic formulae. To ensure the taskcoordinations are met, a rewriting logic-based model checker is applied to verify the system against the constraints. This formal framework is general and can be used for other type humanoidrobots. It allows the representation of motion plans and provides the flexibility of semantic analysis on the humanoidrobotics systems.
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