In the case of object manipulation by a humanoid robot, it is important to deal with contact states between objects, a robot, and an environment both to avoid falling down and to achieve objective manipulations. We propose a method to describe and uniformly execute various object manipulations by a humanoid robot. In description, we focus on the contact states and define manipulation phases according to the contact states. In execution, the humanoid's controller autonomously switches manipulation phases and substantiates the contact-force controller. According to switching of the manipulation phases, the humanoid's manipulation system switches the inputs for the contact-force controller, which includes the estimation of object's information and motion generation. We evaluated our proposed system through experiments in which the HRP-2 robot manipulates four objects without information about the objects' masses and necessary operational forces.
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