In: Proceedings of the second IEEE International Conference on Systems, Man and Cybernetics (SMC'02), October 6-9, 2002, Hammamet, Tunisia, Volume 6. IEEE Computer Society Press, October 2002.
Abstract: In this paper, 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.