Resolved Motion Control of a Humanoid Robot for Coordinated Manipulation

When applied for some tasks, such as payload handling, assemble, repairing, and so on, the two arms of a humanoid robot will form closed kinematic chain. It makes the motion planning and control for dual-arm coordination very complex and difficult. In this paper, we presented two types of resolved motion control methods for a humanoid robot during coordinated manipulation. They are respectively position-level and velocity-level resolved motion control method. For the former, the position-level trajectory of the payload is firstly planned. Then the desired pose (position and attitude) of the two arms are simultaneously determined by resolving the constraints on their end-effectors. For the latter, the velocity of the payload is planned. Then, the each end-effectors' velocities are resolved according to the constraints on the closed-chain system. The joint variables of each arm are then calculated using the inverse kinematics equations, at position-level or velocity-level corresponding to the two cases above. Finally, a dynamic modeling and simulation platform is established based on ADAMS. The proposed methods are verified by typical cases.