Energy-Efficient Multi-Joint Cooperative Motion Planning for Unitree G1 Humanoid Robot in Complex Dance Scenarios
3rd International Conference on Machine Intelligence and Digital Applications, MIDA 2026, Virtual, Online, 24 - 26 Nisan 2026, cilt.92, ss.1625-1635, (Tam Metin Bildiri)
- Yayın Türü: Bildiri / Tam Metin Bildiri
- Cilt numarası: 92
- Doi Numarası: 10.3233/atde260449
- Basıldığı Şehir: Virtual, Online
- Sayfa Sayıları: ss.1625-1635
- Anahtar Kelimeler: dynamic modeling, energy optimization, Humanoid robot, inverse kinematics, motion planning, multi-joint coordination, quintic polynomial trajectory
- İstanbul Gelişim Üniversitesi Adresli: Evet
Özet
Humanoid robots performing complex dance routines face critical challenges in multi-joint coordination, trajectory smoothness, and energy efficiency. This paper proposes a unified mathematical framework integrating spatial analytical geometry, kinematic modeling, and dynamic energy optimization for the Unitree G1 humanoid robot. Firstly, a forward and inverse kinematic model based on homogeneous transformation matrices is established to map joint angles to end-effector positions, yielding a target end-effector coordinate of (-146.35, -84.5, -169) mm for the left arm, with all joint angles verified within motor safety limits. Secondly, a quintic polynomial trajectory planning method combined with an S-shaped velocity profile is employed to generate C2-continuous motions, where the knee joint reaches a maximum angular velocity of 12.34◦/s at 3.45s during non-uniform linear locomotion. Furthermore, a joint dynamics-energy integrated model with an electromechanical efficiency factor (0.85) is constructed to optimize power consumption. Experimental results show the proposed strategy reduces total energy consumption by 15.5% (from 3.10 Wh to 2.62 Wh), with the battery utilization rate lowered to 61.1%. All motion phases achieve over 13% energy saving while maintaining motion fidelity and dynamic stability, effectively enhancing the robot's operational endurance.