Whole-body Pushing Manipulation of Large and Heavy Objects by Life-sized Humanoidbased on Contact Posture Planning and Online Footstep Modification

Abstract

Humanoid robot has high degree-of-freedom around the whole-body and is expected to achieve the various types of manipulation. Pushing manipulation contacting with whole-body region tends to be effective in terms of whole-body joint torque. In this paper, we propose the whole-body posture generation method and the balancing control method in order to achieve whole-body pushing manipulation. The whole-body contact posture is generated by applying the geometric collision detection and the balancing modification to the random-based posture. The walking motion is stabilized by the footstep modification based on capture point. The effectiveness of the proposed methods are verified by the experiment, in which the life-sized humanoid robot carries the object by pushing with whole-body region in the real and simulation environment. 1. [1] [2] [3] [4] [2] [5] [6] 2016 1 28 * * The University of Tokyo, Graduate School of Information Science and Technology J-STAGE Fig. 1 2. 2. 1 Fig. 2 HRP-2 [7] (a) 50 [N] (b) 100 [N] ZMP τ τ τ /τ max max(τ) (a)