The realization of low-energy cooperative motion is one of the key technologies for the complex motion control of humanoid robots. Based on optimal parameters, a control method is adopted to optimize the energy consumption of the cooperative motion of two humanoid robots. A dynamic model that satisfies the cooperative motion is established, and the motional trajectory of two humanoid robots in the process of cooperatively handling objects is planned. Utilizing the control method with optimal parameters, the energy consumption index function is optimized, as the robot keeps stable during the movement. Finally, the effectiveness of the method is verified by simulation and experimentations.

中文翻译：

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基于最优参数化的仿人机器人协同运动控制

低能量协作运动的实现是类人机器人复杂运动控制的关键技术之一。基于最优参数，采用控制方法来优化两个类人机器人协作运动的能量消耗。建立了一个满足协同运动的动力学模型，并规划了两个人形机器人在协同处理物体过程中的运动轨迹。利用最佳参数的控制方法，由于机器人在运动过程中保持稳定，因此优化了能耗指标函数。最后，通过仿真和实验验证了该方法的有效性。