Humanoid Robot Cooperative Motion Control Based on Optimal Parameterization

Qiubo Zhong; Yaoyun Li; Caiming Zheng; Tianyao Shen

doi:10.3389/fnbot.2021.699820

Humanoid Robot Cooperative Motion Control Based on Optimal Parameterization

Front Neurorobot. 2021 Jun 21:15:699820. doi: 10.3389/fnbot.2021.699820. eCollection 2021.

Authors

Qiubo Zhong^{1

2}, Yaoyun Li¹, Caiming Zheng¹, Tianyao Shen¹

Affiliations

¹ Robotics Institute, Ningbo University of Technology, Ningbo, China.
² State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an, China.

Abstract

The implementation of low-energy cooperative movements is one of the key technologies for the complex control of the movements of humanoid robots. A control method based on optimal parameters is adopted to optimize the energy consumption of the cooperative movements of two humanoid robots. A dynamic model that satisfies the cooperative movements is established, and the motion trajectory of two humanoid robots in the process of cooperative manipulation of objects is planned. By adopting the control method with optimal parameters, the parameters optimization of the energy consumption index function is performed and the stability judgment index of the robot in the movement process is satisfied. Finally, the effectiveness of the method is verified by simulations and experimentations.

Keywords: collaborative control; energy optimization; humanoid robot; parameterized optimization control; stability constraints.