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Human-Inspired Holistic Control for Mobile Humanoid Robots.

Zijian Wang1, Xuanrui Ren1, Hongfu Tang1

  • 1School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150080, China.

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Summary
This summary is machine-generated.

This study introduces a novel human-inspired control method for humanoid mobile manipulators, unifying base and arm movements for smoother, coordinated actions. The approach optimizes motion for complex tasks, enhancing robot dexterity and efficiency.

Keywords:
kinematicsmobile manipulationwhole-body motion planning and control

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Area of Science:

  • Robotics
  • Control Systems
  • Humanoid Robotics

Background:

  • Humanoid mobile manipulators combine wheeled bases with upper bodies for complex tasks.
  • High redundancy from coordinated base, waist, and dual-arm motion poses control challenges.

Purpose of the Study:

  • To propose a human-inspired holistic control method for unified motion coordination in humanoid mobile manipulators.
  • To enhance manipulation capabilities by optimizing the interaction between the mobile base and upper limbs.

Main Methods:

  • Developed a multi-objective optimization framework unifying degrees of freedom (DOF) of the mobile base and dual arms.
  • Formulated the controller as a strictly convex quadratic program (QP) for accurate end-effector tracking and constraint handling.
  • Incorporated hierarchical weight assignment and base DOF optimization inspired by human motor control.

Main Results:

  • Achieved accurate end-effector tracking while respecting joint position and velocity constraints.
  • Generated smooth, humanoid-like motions in simulations and real-world experiments.
  • Demonstrated effective coordination between the mobile base, waist, and dual arms during handling and assembly tasks.

Conclusions:

  • The proposed human-inspired holistic control method effectively addresses redundancy in humanoid mobile manipulators.
  • The approach enhances motion coordination, leading to more natural and efficient robot behavior.
  • Validated through simulations and experiments in dual-arm handling and peg-in-hole assembly tasks.