Modeling Humanoid Robot as a Discrete Event System: A Modular Approach Based on Petri Nets

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.