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Robotics and Autonomous Systems
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Robotics and Autonomous Systems
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Robotics and Autonomous Systems
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Robotics and Autonomous Systems
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Robotics and Autonomous Systems
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Robotics and Autonomous Systems
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Robotics and Autonomous Systems
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CCIE '10 Proceedings of the 2010 International Conference on Computing, Control and Industrial Engineering - Volume 02
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IEEE Transactions on Robotics
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IEEE Transactions on Education
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Robotics and Autonomous Systems
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In this paper, the Petri net-based wireless sensor node architecture (PN-WSNA) is used to control a humanoid robot to play weightlifting and sprint games in the FIRA HuroCup league. With the PN-WSNA approach, the control scenario and decision-making for playing weightlifting and sprint games can be modeled as a PN-WSNA model. The PN-WSNA inference engine is further used to interpret and execute the PN-WSNA model according to the sensor information from visual perception. Therefore, the implementation of playing weightlifting and sprint games is achieved in terms of the PN-WSNA model instead of native code. To verify the PN-WSNA-based implementation approach, an autonomous humanoid robot equipped with a camera and a single-board computer is used for experiments, where the camera is responsible for grabbing image frames; the single-board computer is responsible for visual localization; and the PN-WSNA models the execution and locomotion command generation. Finally, several PN-WSNA models for playing weightlifting and sprint games are proposed and the experimental results are demonstrated and discussed to validate the feasibility of applying the proposed PN-WSNA-based implementation approach.