期刊
FRONTIERS IN NEUROROBOTICS
卷 15, 期 -, 页码 -出版社
FRONTIERS MEDIA SA
DOI: 10.3389/fnbot.2021.699820
关键词
humanoid robot; collaborative control; stability constraints; parameterized optimization control; energy optimization
资金
- State Key Laboratory for Manufacturing Systems Engineering, Xi'an Jiaotong University Foundation of China [sklms2019011]
- 13th 5 year plan talent training project of higher education in Zhejiang Province [jg20190487]
- Research project of Educational Science Planning in Zhejiang Province [2020SCG090]
The study utilizes a control method with optimal parameters to establish a dynamic model and plan motion trajectories for humanoid robots engaged in cooperative movements, effectively verifying the method's efficacy through simulations and experiments.
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.
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