Object manipulation by two humanoid robots using MTJ control

In this study, a Modified Transpose Jacobian (MTJ) control algorithm for object manipulation by two humanoid robots was designed. Such cooperative humanoid robots typically are employed in hazardous situation such as radioactive materials transport explosive disposal and industrial applications. In the present paper, a high performance and robust controller was developed for the safe load handling, transportation and trajectory tracking. The MTJ algorithm, based on an approximated feedback linearization approach, employs stored data of the control command in the previous time step, to yield an improved performance. First, dynamic equations of robot were derived. Then, the stable walking gait based on ZMP approach was planned. Furthermore, the MTJ controller was applied to the robots and for comparative purposes, the Transpose Jacobian (TJ) was also utilized. Significantly, it was found that the MTJ made smaller trajectory tracking errors than the TJ controller.