一种仿人机器人协作运动控制方法

doi:10.13190/j.jbupt.2017.03.018

北京邮电大学学报 ›› 2017, Vol. 40 ›› Issue (3): 121-126.doi: 10.13190/j.jbupt.2017.03.018

• 研究报告 • 上一篇

一种仿人机器人协作运动控制方法

楼建明¹, 钟秋波²

1. 宁波工程学院电子与信息工程学院, 浙江宁波 315211;
2. 哈尔滨工业大学机器人技术与系统国家重点实验室, 哈尔滨 150001

收稿日期:2017-01-10 出版日期:2017-06-28 发布日期:2017-05-25
作者简介:楼建明(1966-),男,副教授,E-mail:ljm842@163.com.
基金资助:
全国教育信息技术研究课题项目（166233365）；浙江省高等教育教学改革项目（jg2015190）；浙江省教育技术研究规划课题项目（JB049、JA027）；浙江省高校实验室工作研究项目（ZD201504）

Cooperative Motion Control Method for Humanoid Robot

LOU Jian-ming¹, ZHONG Qiu-bo²

1. School of Electronic and Information Engineering, Ningbo University of Technology, Ningbo 315016, China;
2. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin 150001, China

Received:2017-01-10 Online:2017-06-28 Published:2017-05-25

摘要/Abstract

摘要： 根据仿人机器人协作运动的控制特点，构建2个仿人机器人进行球体搬运协作运动模型，并提出了一种基于二阶锥控制原理的多仿人机器人运动稳定性的控制方法.通过对协作运动过程中各种稳定性进行联合约束，构建二阶锥规划方程，将运动稳定性最优控制问题转换成二阶锥规划方程的优化问题.仿真与实验结果表明，该控制方法可以有效控制仿人机器人的协作运动并确保其稳定性.

关键词: 仿人机器人, 二阶锥, 稳定性约束, 协作运动

Abstract: According to the characteristics of cooperative motion control of humanoid robot,a cooperative motion model of two humanoid robot in ball handling was deduced and a control method based on second order cone principle was introduced to maintain the stability in movement for multi-robot.By deducing constraints of stability in cooperative movement,an equation of second-order cone programming was constructed,and the stability control problem was converted for solving equations of second order cone.Finally,the effectiveness of the proposed method is verified by simulation and experiment.

Key words: humanoid robot, second order cone, stability constraint, cooperative motion

中图分类号:

TP242.6

楼建明, 钟秋波. 一种仿人机器人协作运动控制方法[J]. 北京邮电大学学报, 2017, 40(3): 121-126.

LOU Jian-ming, ZHONG Qiu-bo. Cooperative Motion Control Method for Humanoid Robot[J]. JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM, 2017, 40(3): 121-126.

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一种仿人机器人协作运动控制方法

Cooperative Motion Control Method for Humanoid Robot

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