Purpose

An optimal solution method based on 2-norm is proposed in this study to solve the inverse kinematics multiple-solution problem caused by a high redundancy. The current research also presents a motion optimization based on the 2-Norm of high-redundant mobile humanoid robots, in which a kinematic model is designed through the entire modeling.

Design/methodology/approach

The current study designs a highly redundant humanoid mobile robot with a differential mobile platform. The high-redundancy mobile humanoid robot consists of three modular parts (differential driving platform with two degrees of freedom (DOF), namely, left and right arms with seven DOF, respectively) and has total of 14 DOFs. Given the high redundancy of humanoid mobile robot, a kinematic model is designed through the entire modeling and an optimal solution extraction method based on 2-norm is proposed to solve the inverse kinematics multiple solutions problem. That is, the 2-norm of the angle difference before and after rotation is used as the shortest stroke index to select the optimal solution. The optimal solution of the inverse kinematics equation in the step is obtained by solving the minimum value of the objective function of a step. Through the step-by-step cycle in the entire tracking process, the kinematic optimization of the highly redundant humanoid robot in the entire tracking process is realized.

Findings

Compared with the before and after motion optimizations based on the 2-norm algorithm of the robot, its motion after optimization shows minimal fluctuation, improved smoothness, limited energy consumption and short path during the entire mobile tracking and operating process.

Research limitations/implications

In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis for the follow-up research of the service robot.

Practical implications

In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis for the follow-up research of the service robot.

Social implications

In this paper, the whole kinematics model of the highly redundant humanoid mobile robot is established and its motion is optimized based on 2-norm, which provides a theoretical basis for the follow-up research of the service robot.

Originality/value

Motion optimization based on the 2-norm of a highly redundant humanoid mobile robot with the entire modeling is performed on the basis of the entire modeling. This motion optimization can make the highly redundant humanoid mobile robot’s motion path considerably short, minimize energy loss and shorten time. These researches provide a theoretical basis for the follow-up research of the service robot, including tracking and operating target, etc. Finally, the motion optimization algorithm is verified by the tracking and operating behaviors of the robot and an example.

中文翻译：

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高冗余仿人移动机器人运动优化

目的

针对高冗余度引起的逆运动学多解问题，本文提出了一种基于2-范数的最优解法。目前的研究还提出了一种基于高冗余移动仿人机器人2-范数的运动优化，其中通过整个建模设计了运动学模型。

设计/方法/方法

目前的研究设计了一个具有差分移动平台的高度冗余的人形移动机器人。高冗余移动仿人机器人由三个模块化部分（具有两个自由度（DOF）的差分驱动平台，即左右臂分别具有七个自由度）组成，共有14个自由度。针对仿人移动机器人的高冗余性，在整个建模过程中设计了运动学模型，提出了一种基于2-范数的最优解提取方法来解决逆运动学多解问题。即以旋转前后角度差的2范数作为最短行程指标来选择最优解。通过求解某一步目标函数的最小值，得到该步逆运动学方程的最优解。

发现

与基于机器人2范数算法的前后运动优化相比，优化后的运动在整个移动跟踪和操作过程中波动最小，平滑度提高，能量消耗有限，路径短。

研究限制/影响

本文建立了高冗余仿人移动机器人的整体运动学模型，并基于2-范数对其运动进行了优化，为服务机器人的后续研究提供了理论依据。

实际影响

本文建立了高冗余仿人移动机器人的整体运动学模型，并基于2-范数对其运动进行了优化，为服务机器人的后续研究提供了理论依据。

社会影响

本文建立了高冗余仿人移动机器人的整体运动学模型，并基于2-范数对其运动进行了优化，为服务机器人的后续研究提供了理论依据。

原创性/价值

基于高度冗余的仿人移动机器人2-范数进行整体建模的运动优化是在整体建模的基础上进行的。这种运动优化可以使高度冗余的仿人移动机器人的运动路径相当短，最大限度地减少能量损失并缩短时间。这些研究为服务机器人的后续研究提供了理论基础，包括跟踪和操作目标等。最后，通过机器人的跟踪和操作行为以及实例验证了运动优化算法。