%0 Journal Article
%A LOU Jian-ming
%A ZHONG Qiu-bo
%T Cooperative Motion Control Method for Humanoid Robot
%D 2017
%R 10.13190/j.jbupt.2017.03.018
%J Journal of Beijing University of Posts and Telecommunications
%P 121-126
%V 40
%N 3
%X 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 second-order cone programming 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.
%U https://journal.bupt.edu.cn/EN/10.13190/j.jbupt.2017.03.018