Controlling the Posture of a Humanoid Robot

Abstract

The method for planning the robotic hand trajectory and postural adjustments of a humanoid robot is presented. The planar case is analyzed and the body displacement is represented in the sagittal plane. Such a scenario is typical for the tasks when two hands are equally involved in handling, placing or collecting some objects. The robot is expected to adjust its standing posture according to the designed trajectory of the hands. The geometrical approach to trajectory planning of the robot hands is presented. The damped least-square pseudo-inverse with null space projection is used for calculating the pseudo-inverse of augmented Jacobian. Presented method was tested using the robot model and the real prototype. The paper is ending with conclusions.