Humanoid Robot Cooperative Motion Control Based on Optimal Parameterization
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...
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
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Frontiers Media S.A.
2021-06-01
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| Series: | Frontiers in Neurorobotics |
| Subjects: | |
| Online Access: | https://www.frontiersin.org/articles/10.3389/fnbot.2021.699820/full |
| _version_ | 1818571849725902848 |
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| author | Qiubo Zhong Qiubo Zhong Yaoyun Li Caiming Zheng Tianyao Shen |
| author_facet | Qiubo Zhong Qiubo Zhong Yaoyun Li Caiming Zheng Tianyao Shen |
| author_sort | Qiubo Zhong |
| collection | DOAJ |
| description | 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. |
| first_indexed | 2024-12-14T18:49:43Z |
| format | Article |
| id | doaj.art-188707fff7e846ad968b5f03b601c252 |
| institution | Directory Open Access Journal |
| issn | 1662-5218 |
| language | English |
| last_indexed | 2024-12-14T18:49:43Z |
| publishDate | 2021-06-01 |
| publisher | Frontiers Media S.A. |
| record_format | Article |
| series | Frontiers in Neurorobotics |
| spelling | doaj.art-188707fff7e846ad968b5f03b601c2522022-12-21T22:51:17ZengFrontiers Media S.A.Frontiers in Neurorobotics1662-52182021-06-011510.3389/fnbot.2021.699820699820Humanoid Robot Cooperative Motion Control Based on Optimal ParameterizationQiubo Zhong0Qiubo Zhong1Yaoyun Li2Caiming Zheng3Tianyao Shen4Robotics Institute, Ningbo University of Technology, Ningbo, ChinaState Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University, Xi'an, ChinaRobotics Institute, Ningbo University of Technology, Ningbo, ChinaRobotics Institute, Ningbo University of Technology, Ningbo, ChinaRobotics Institute, Ningbo University of Technology, Ningbo, ChinaThe 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.https://www.frontiersin.org/articles/10.3389/fnbot.2021.699820/fullhumanoid robotcollaborative controlstability constraintsparameterized optimization controlenergy optimization |
| spellingShingle | Qiubo Zhong Qiubo Zhong Yaoyun Li Caiming Zheng Tianyao Shen Humanoid Robot Cooperative Motion Control Based on Optimal Parameterization Frontiers in Neurorobotics humanoid robot collaborative control stability constraints parameterized optimization control energy optimization |
| title | Humanoid Robot Cooperative Motion Control Based on Optimal Parameterization |
| title_full | Humanoid Robot Cooperative Motion Control Based on Optimal Parameterization |
| title_fullStr | Humanoid Robot Cooperative Motion Control Based on Optimal Parameterization |
| title_full_unstemmed | Humanoid Robot Cooperative Motion Control Based on Optimal Parameterization |
| title_short | Humanoid Robot Cooperative Motion Control Based on Optimal Parameterization |
| title_sort | humanoid robot cooperative motion control based on optimal parameterization |
| topic | humanoid robot collaborative control stability constraints parameterized optimization control energy optimization |
| url | https://www.frontiersin.org/articles/10.3389/fnbot.2021.699820/full |
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