Reggie Davidrajuh: Petri Net Based Modelling and Control of Humanoid Robots

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.