Path and Motion Optimization for Efficient Multi-Location Inspection with Humanoid Robots
🤖 AI Summary
This work addresses multi-point inspection tasks for humanoid robots in complex industrial environments, where millimeter-level end-effector positioning accuracy and coordinated multi-pose planning remain challenging. Method: We propose an efficient, high-precision motion optimization framework based on hierarchical decomposition of the high-dimensional motion optimization problem. A mixed-integer programming (MIP) model jointly optimizes pose selection and trajectory length to generate time-optimal inspection poses. Additionally, we design a simplified kinematic model predictive control (MPC) with single-step positional correction to balance real-time performance and tracking accuracy. Contribution/Results: Evaluated on the Kuavo 4Pro platform, the framework significantly reduces computational latency, improves task success rate, achieves millimeter-level end-effector positioning accuracy, and outperforms conventional methods in both inspection efficiency and robustness.
Application Category
📝 Abstract
This paper proposes a novel framework for humanoid robots to execute inspection tasks with high efficiency and millimeter-level precision. The approach combines hierarchical planning, time-optimal standing position generation, and integrated ac{mpc} to achieve high speed and precision. A hierarchical planning strategy, leveraging ac{ik} and ac{mip}, reduces computational complexity by decoupling the high-dimensional planning problem. A novel MIP formulation optimizes standing position selection and trajectory length, minimizing task completion time. Furthermore, an MPC system with simplified kinematics and single-step position correction ensures millimeter-level end-effector tracking accuracy. Validated through simulations and experiments on the Kuavo 4Pro humanoid platform, the framework demonstrates low time cost and a high success rate in multi-location tasks, enabling efficient and precise execution of complex industrial operations.
Problem
Research questions and friction points this paper is trying to address.
Optimizes humanoid robot paths for efficient multi-location inspection
Minimizes task completion time through standing position optimization
Ensures millimeter-level tracking accuracy with integrated MPC control
Innovation
Methods, ideas, or system contributions that make the work stand out.
Hierarchical planning decouples high-dimensional complexity
MIP formulation optimizes standing positions and trajectories
MPC system ensures millimeter-level tracking accuracy
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