基于SOCP的仿人机器人协同运动控制方法

2017 International Conference on Security, Pattern Analysis, and Cybernetics (SPAC) Pub Date : 2017-12-01 DOI:10.1109/SPAC.2017.8304321

Zhong Qiu-bo

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引用次数: 1

摘要

根据仿人机器人协同运动控制的特点，推导了两个仿人机器人处理球时的协同运动模型，提出了一种基于二阶锥原理的控制方法来保持多机器人的运动稳定性。通过推导协同运动的稳定性约束，构造了系统的稳定性控制方程，并将稳定性控制问题转化为求解二阶锥方程。最后，通过仿真和实验验证了所提方法的有效性。

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Cooperative motion control method for humanoid robot based on SOCP

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.

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来源期刊

2017 International Conference on Security, Pattern Analysis, and Cybernetics (SPAC)

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