Stability Analysis of NAO Humanoid Robot Using a Fuzzy Petri net Model

A Place/Transition Petri net (PTPN) is a graphical and mathematical tool used to represent and simulate complex systems. Many different situations can be modeled with a PTPN, but some situations exist that require a higher level of complexity to accurately represent the conditions present in the system. One high-level Petri net combines a Petri net with fuzzy logic, which forms a Fuzzy Petri net (FPN) that allows for the modeling of undefined scenarios. Humanoid robot stabilization is both complex and indefinite requiring a means of modeling its complexity. The stabilization infrastructure of the NAO robot's R-HipRoll actuator has been evaluated while the NAO robot steps onto a scaled platform. This dynamic movement has been modeled using an FPN and the Core-Support based Stability Control (CSSC) algorithm has been proposed to improve the likelihood of the NAO Robot completing the stepping sequence.