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<p>Single-arm control algorithms with high precision and dual-arm cooperative algorithm with high coordination and strong anti-interference ability have always been the key point in the field of robotic arm control. In the logistics and warehouse domain, handling tasks represents a crucial application scenario for humanoid robots. This paper employs the fully-actuated system approach to manipulate dual-arm humanoid robot, transforming its 7-DOF (degree of freedom) Lagrange dynamic equation into a linear system with predetermined eigenvalues. By adjusting these eigenvalues, we can accelerate system convergence speed and achieve precise trajectory tracking result. Upon this foundation, an error feedback-based dual-arm system algorithm was designed to enhance cooperation and anti-interference abilities of the system. Finally, this algorithm was deployed onto a real humanoid robot platform for experiment verification, demonstrating its excellent handling performance.</p>

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Dual-arm trajectory tracking algorithm for humanoid robot based on fully-actuated system approach

  • 期刊论文

  • 发表日期：

    2025年10月6日

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  • Yuanchen Tang,
  • Liang He

摘要

Single-arm control algorithms with high precision and dual-arm cooperative algorithm with high coordination and strong anti-interference ability have always been the key point in the field of robotic arm control. In the logistics and warehouse domain, handling tasks represents a crucial application scenario for humanoid robots. This paper employs the fully-actuated system approach to manipulate dual-arm humanoid robot, transforming its 7-DOF (degree of freedom) Lagrange dynamic equation into a linear system with predetermined eigenvalues. By adjusting these eigenvalues, we can accelerate system convergence speed and achieve precise trajectory tracking result. Upon this foundation, an error feedback-based dual-arm system algorithm was designed to enhance cooperation and anti-interference abilities of the system. Finally, this algorithm was deployed onto a real humanoid robot platform for experiment verification, demonstrating its excellent handling performance.