Multiple humanoid cooperative control system for heterogeneous humanoid team

This paper presents a multiple humanoid cooperative control system(MHCCS) developed for the demonstration of heterogeneous humanoid collaborating to complete a mission consists of multiple humanoid tasks. MHCCS consists of CORBA based framework, humanoid control software, multiple humanoid cooperative control software, sensing software. Multiple humanoid cooperative control software consists of 3 layers: mission layer, task layer, action layer. User can design a task for humanoid by drawing a state diagram using developed graphical user interface, or edit XML-based command script directly. We defined action primitives suitable to abstract humanoid tasks by using state diagram, which is stored in a knowledge database for the future use. The developed MHCCS is successfully tested through the demonstration of a heterogeneous humanoid team cleaning the tables without confliction.