Abstract
The optimal posture of a humanoid robot for generating large desired force at its hands is discussed. The robot is required to stand stably and to support the force and its weight under the constraint of maximum joint torques. Furthermore, it is important to keep the robot controllable against sudden change in the force. From this point of view, an evaluation function for the task with large force based on statics is proposed; we focus jacobian matrices of two arms and legs to give the robot adaptability to force change. Then the method of obtaining the optimal posture, footholds and joint torques of the robot is described. Effectiveness of the method are verified through computer simulations.
| Original language | English |
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| Pages (from-to) | 2271-2276 |
| Number of pages | 6 |
| Journal | Proceedings - IEEE International Conference on Robotics and Automation |
| Volume | 3 |
| Publication status | Published - 2002 |
| Externally published | Yes |
| Event | 2002 IEEE International Conference on Robotics adn Automation - Washington, DC, United States Duration: 11 May 2002 → 15 May 2002 |