Journal of Chaohu University ›› 2018, Vol. 20 ›› Issue (6): 97-102.
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According to the characteristics of multi-robot superposition motion coordination, a path planning method based on OpenHRP platform for multi-robot cooperative superimposed motion was proposed. Firstly, the kinematic constraints of superposition motion were analyzed. Then the algorithm of straight line superimposed linear motion and straight line superimposed arc movement was designed. Finally, a three-dimensional simulation diagram of multi-robot coordinated superposition motion was obtained through the simulation environment of linear motion.
