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arXiv · 2510.11401

Path and Motion Optimization for Efficient Multi-Location Inspection with Humanoid Robots

Jiayang Wu·Jiongye Li·Shibowen Zhang·Zhicheng He·Zaijin Wang·Xiaokun Leng·Hangxin Liu·Jingwen Zhang·Jiayi Wang·Song-Chun Zhu·Yao Su
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Abstract

This paper proposes a novel framework for humanoid robots to execute inspection tasks with high efficiency and millimeter-level precision. The approach combines hierarchical planning, time-optimal standing position generation, and integrated \ac{mpc} to achieve high speed and precision. A hierarchical planning strategy, leveraging \ac{ik} and \ac{mip}, reduces computational complexity by decoupling the high-dimensional planning problem. A novel MIP formulation optimizes standing position selection and trajectory length, minimizing task completion time. Furthermore, an MPC system with simplified kinematics and single-step position correction ensures millimeter-level end-effector tracking accuracy. Validated through simulations and experiments on the Kuavo 4Pro humanoid platform, the framework demonstrates low time cost and a high success rate in multi-location tasks, enabling efficient and precise execution of complex industrial operations.

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Jiayang Wu, Jiongye Li, Shibowen Zhang, Zhicheng He, Zaijin Wang, Xiaokun Leng, Hangxin Liu, Jingwen Zhang, Jiayi Wang, Song-Chun Zhu, Yao Su. 2025-10-13. Path and Motion Optimization for Efficient Multi-Location Inspection with Humanoid Robots. https://arxiv.org/abs/2510.11401

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