Analysis of Internal Force in Whole Body Manipulation by a Human Type Robotic Mechanisms

摘要

This paper discusses the manipulation of a big and heavy object by a human type robotic mechanisms. When a human type robot pushes an object, slip may occur at the contact point between the hand and the object and at the contact betweem the leg and the floor. To avoid the slip, we obtain the region of the internal force acting among the contact points. We also obtain the region of the foot position enabling a robot to push an object effectively. To verify the effectiveness of our method, we show simulation results.