Mobile Manipulation Control for Humanoid Robots-Control of Center of Mass Position Considering the Hand Reflect Forces-

摘要

Mobile manipulation control method for humanoid robots provides good manipulability and stability on manipulation tasks. This method leads whole body motion and locomotion, when the manipulator tip trajectory is decided. For the dexterous and powerful manipulation, the robot has to cope with the expected and unexpected forces acting to the hands. By assuming the whole body balance, we define the “ZMP Based Reference Center of Mass (ZBC) ”, which is projection of the Center of Mass (COM) to the ground of world coordinate frame, when the external forces act to the end-effectors. We propose to use the ZBC for modification control of COM with balancing control. The method is implemented to the conventional mobile manipulation control method and we construct the system which consists of four controllers: “Foothold determination”, “Walking pattern generator”, “COM modification controller” and “Momentum controller”. The experimental results show that a humanoid robot can push a heavy object by changing the foot stamps and the COM position.