2023/03/09 by Junheng Li, Quan Dong Nguyen, Li, Junheng +1 · 4 citations
Biochemistry, Genetics and Molecular Biology · Engineering · #90C30 #93C85 #FOS: Computer and information sciences #Muscle Physiology and Disorders #Prosthetics and Rehabilitation Robotics #Robotic Locomotion and Control #Robotics (cs.RO)
paper · pdf · doi:10.48550/arxiv.2303.04985
openalex publication_date 2023/03/09 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This paper presents a novel approach for controlling humanoid robots to push heavy objects. The approach combines kinodynamics-based pose optimization and loco-manipulation model predictive control (MPC). The proposed pose optimization considers the object-robot dynamics model, robot kinematic constraints, and object parameters to plan the optimal pushing pose for the robot. The loco-manipulation MPC is used to track the optimal pose by coordinating pushing and ground reaction forces, ensuring accurate manipulation and stable locomotion. Numerical validation demonstrates the effectiveness of the framework, enabling the humanoid robot to push objects with various parameter setups. The pose optimization can be solved as a nonlinear programming (NLP) problem within an average of 250 ms. The proposed control scheme allows the humanoid robot to push objects weighing up to 20 kg (118% of the robot's mass). Additionally, it can recover the system from a 120 N lateral force disturbance applied for 0.3 s.