A 7-degree-of-freedom humanoid arm adaptive parameter identification and compliant control method

By combining adaptive particle swarm optimization and extended Kalman filter state estimator, the problems of insufficient accuracy and anti-interference ability of the 7-DOF humanoid arm dynamics model are solved, achieving high-precision external force estimation and stable control, and reducing equipment costs.

CN122425702APending Publication Date: 2026-07-21GUANGZHOU HUARUI ZHIPU INTELLIGENT ROBOT CO LTD
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Patent Information

Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
GUANGZHOU HUARUI ZHIPU INTELLIGENT ROBOT CO LTD
Filing Date
2026-05-25
Publication Date
2026-07-21

AI Technical Summary

Technical Problem

Existing sensorless force estimation methods based on dynamic residuals suffer from insufficient accuracy of the dynamic model, poor anti-interference ability, and module fragmentation in 7-DOF humanoid arms, making it difficult to meet the requirements of high accuracy and stability.

Method used

The excitation trajectory is designed using Fourier series with adaptive particle swarm optimization. Combined with extended Kalman filter state estimator and closed-loop cooperative compliant control, the real-time estimation and stable control of the end force are achieved through adaptive dynamic identification and Jacobian pseudo-inverse solution.

Benefits of technology

It achieves high-precision external force sensing without the need for additional sensors, reduces equipment costs, improves system adaptability and control accuracy, and meets the needs of industrial applications.

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Abstract

The application discloses a 7-DOF humanoid arm adaptive parameter identification and compliant control method, a kinematics model is established based on a standard DH parameter method and is linearized; an excitation trajectory is designed by using a Fourier series of an adaptive particle swarm optimization, online identification of dynamic parameters is realized by improving an enhanced adaptive algorithm; a dynamic model is constructed based on the identified dynamic parameters, a terminal external force is taken as a state quantity and is brought into an extended Kalman filter framework to realize real-time estimation, and an adaptive regularization term is used to suppress singular point fluctuation; a Cartesian space compliant control law is constructed, identified parameters are dynamically fed back to an extended Kalman filter and a compliant control module to adjust a noise covariance matrix and impedance parameters, a closed-loop collaborative mechanism is formed, and flexible compliant control is realized. The application can realize high-precision external force perception and stable compliant control under the premise of no additional sensors, reduce equipment cost, improve system adaptability and control precision, and meet the application requirements of the 7-DOF humanoid arm.
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