Coordinated Transport by Dual Humanoid Robots Using Distributed Model Predictive Control

Abstract

Dual humanoid robot collaborative control systems possess better flexibility and adaptability in complex environments due to their similar structures to humans. This paper adopts a distributed model predictive controller based on the leader–follower approach to address the collaborative transportation control issue of dual humanoid robots. In the dual-robot collaborative control system, network latency issues may arise due to unstable network conditions, affecting the consistency of dual-robot collaboration. To solve this issue, a communication protocol was constructed through socket communication for dual-robot collaborative consistency, thereby resolving the problem of consistency in dual humanoid robot collaboration. Additionally, due to the complex structure of humanoid robots, there are deficiencies in position tracking accuracy during movement. To address the poor accuracy in position tracking, this paper proposes a distributed model predictive control that considers historical cumulative error, thus enhancing the position tracking accuracy of dual-robot collaborative control.

Keywords

• dual-robot system
• distributed model predictive control
• trajectory tracking
• collaborative transportation