Walking Motion for Pushing Manipulation by a Humanoid Robot

Abstract

This paper discusses the pushing manipulation of an object by a humanoid robot. We generate the walking pattern for the pushing task by modifying the desired ZMP trajectory of the walking pattern for a humanoid robot whose hands do not contact with an object. For the modified walking pattern, we analyze whether or not the robot can keep the dynamical balance by considering both the ZMP and the walking velocity. The validity of the proposed method is confirmed by some simulation results. We further consider extending the proposed algorithm by separating the walking phase and the pushing phase.