A symmetry position/force hybrid control framework for cooperative object transportation tasks with multiple humanoid robots is proposed in this paper. In a leader-follower type cooperation, follower robots plan their biped gaits based on the forces generated at their hands after a leader robot moves. Therefore, if the leader robot moves fast (rapidly pulls or pushes the carried object), some of the follower humanoid robots may lose their balance and fall down. The symmetry type cooperation discussed in this paper solves this problem because it enables all humanoid robots to move synchronously. The proposed framework is verified by dynamic simulations.

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This research aims to create a framework of transporting an object by multiple humanoid robots. e.g. In this work, a leader-follower type cooperation method is used. In the leader-follower method, the leader robot is directly operated by a human operator, and the follower robot is programmed to follow the leader robot based on the force sensor information measured on its hands. This force is due to relative displacement of the robots and could induce unstable condition. The force leads to falling down of the robots in the worst case. We propose a system of easing the interactive force while moving in this paper.