Cooperative Motion Control Method for Humanoid Robot

doi:10.13190/j.jbupt.2017.03.018

JOURNAL OF BEIJING UNIVERSITY OF POSTS AND TELECOM ›› 2017, Vol. 40 ›› Issue (3): 121-126.doi: 10.13190/j.jbupt.2017.03.018

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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

Abstract

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

CLC Number:

TP242.6

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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Cooperative Motion Control Method for Humanoid Robot

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