Cooperative motion control method for humanoid robot based on SOCP

机译：基于SOCP的类人机器人协同运动控制方法

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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 SOCP 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.

机译：根据类人机器人协同运动控制的特点，推导了两个类人机器人在球操纵中的协调运动模型，提出了一种基于二阶锥原理的控制方法，以保持多人机器人运动的稳定性。通过推导协同运动中稳定性的约束条件，构造了SOCP方程，并转换了稳定性控制问题，以求解二阶锥方程。最后，通过仿真和实验验证了该方法的有效性。

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来源
《2017 International Conference on Security, Pattern Analysis, and Cybernetics》|2017年|451-456|共6页
会议地点 Shenzhen(CN)
作者
Zhong Qiu-bo;
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作者单位

Ningbo University of Technology, School of Electronic and Information Engineering, Ningbo, China, 315016;

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原文格式 PDF
正文语种 eng
中图分类
关键词
Humanoid robots; Force; Task analysis; Friction; Electron tubes; Stability analysis;

机译：人形机器人;力;任务分析;摩擦力;电子管;稳定性分析;;

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1. Self-Learning Control of Cooperative Motion for Humanoid Robots [J] . Yoon-Kwon Hwang, Kook-Jin Choi, Dae-Sun Hong International Journal of Control, Automation, and Systems . 2006,第6期

机译：人形机器人协同运动的自学习控制
2. Impact motion control of humanoid robot BHR-5 based on the energy integral method: [J] . Fei Meng, Xiaopeng Chen, Zhangguo Yu, Advances in Mechanical Engineering . 2016,第1期

机译：基于能量积分法的类人机器人BHR-5的冲击运动控制：
3. HYBRID MOTION CONTROL OF HUMANOID ROBOT FOR LEADER-FOLLOWER COOPERATIVE TASKS [J] . Srđan Savić, Mirko Raković, Branislav A. Borovac, Thermal science . 2016,第Supplementa2期

机译：跟随跟随协作任务的类人机器人的混合运动控制
4. Cooperative motion control method for humanoid robot based on SOCP [C] . Zhong Qiu-bo International Conference on Security, Pattern Analysis, and Cybernetics . 2017

机译：基于SOCP的人形机器人的合作运动控制方法
5. Locomotion and balance control of humanoid robots with dynamic and kinematic constraints. [D] . Zheng, Yu. 2014

机译：具有动态和运动学约束的类人机器人的运动和平衡控制。
6. An Improved Fuzzy Brain Emotional Learning Model Network Controller for Humanoid Robots [O] . Wubing Fang, Fei Chao, Chih-Min Lin, 2019

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7. A Motion Control Method Based on the Knowledge Discovery and Data Mining for Humanoid Robots [O] . Kiyotake Kuwayama, Shohei Kato, Hidenori Itoh 2007

机译：一种基于知识发现和数据挖掘的运动控制方法

Cooperative motion control method for humanoid robot based on SOCP

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