{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,11]],"date-time":"2026-04-11T07:24:24Z","timestamp":1775892264608,"version":"3.50.1"},"reference-count":24,"publisher":"MDPI AG","issue":"12","license":[{"start":{"date-parts":[[2024,12,16]],"date-time":"2024-12-16T00:00:00Z","timestamp":1734307200000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"Science and Technology Innovation 2030","award":["2021ZD0201403"],"award-info":[{"award-number":["2021ZD0201403"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Biomimetics"],"abstract":"<jats:p>Humanoid robots are becoming a global research focus. Due to the limitations of bipedal walking technology, mobile humanoid robots equipped with a wheeled chassis and dual arms have emerged as the most suitable configuration for performing complex tasks in factory or home environments. To address the high redundancy issue arising from the wheeled chassis and dual-arm design of mobile humanoid robots, this study proposes a whole-body coordinated motion control algorithm based on arm potential energy optimization. By constructing a gravity potential energy model for the arms and a virtual torsional spring elastic potential energy model with the shoulder-wrist line as the rotation axis, we establish an optimization index function for the arms. A neural network with variable stiffness is introduced to fit the virtual torsional spring, representing the stiffness variation trend of the human arm. Additionally, a posture mapping method is employed to map the human arm potential energy model to the robot, enabling realistic humanoid movements. Combining task-space and joint-space planning algorithms, we designed experiments for single-arm manipulation, independent object retrieval, and dual-arm carrying in a simulation of a 23-degree-of-freedom mobile humanoid robot. The results validate the effectiveness of this approach, demonstrating smooth motion, the ability to maintain a low potential energy state, and conformity to the operational characteristics of the human arm.<\/jats:p>","DOI":"10.3390\/biomimetics9120766","type":"journal-article","created":{"date-parts":[[2024,12,17]],"date-time":"2024-12-17T03:46:02Z","timestamp":1734407162000},"page":"766","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":2,"title":["A Whole-Body Coordinated Motion Control Method for Highly Redundant Degrees of Freedom Mobile Humanoid Robots"],"prefix":"10.3390","volume":"9","author":[{"given":"Hao","family":"Niu","sequence":"first","affiliation":[{"name":"School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Xin","family":"Zhao","sequence":"additional","affiliation":[{"name":"School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-7469-6907","authenticated-orcid":false,"given":"Hongzhe","family":"Jin","sequence":"additional","affiliation":[{"name":"The State Key Laboratory of Robotics and System, School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0009-0005-6203-3101","authenticated-orcid":false,"given":"Xiuli","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Mechanical, Electronic and Control Engineering, Beijing Jiaotong University, Beijing 100044, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2024,12,16]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"26407","DOI":"10.1109\/JSEN.2024.3424218","article-title":"LCDL: Toward Dynamic Localization for Autonomous Landing of Unmanned Aerial Vehicle Based on LiDAR\u2013Camera Fusion","volume":"24","author":"Xu","year":"2024","journal-title":"IEEE Sens. 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