Motion Generation of a Humanoid Robots based on the Contact Force Cone - 2nd Report: Generation of Manipulation Motion

摘要

This research proposes a general framework for the motion generation of a humanoid robot using the convex polyhedral cone of contact forces. By using the polyhedral cone, we show that the motion of a humanoid robot can be generated by considering both the friction cone constraint at each contact point and the effect of internal force acting among the contact points. Some numerical examples are shown to confirm the effectiveness of the proposed method. Also, the motion of a humanoid robot climbing up a big gap while grasping the handrail is shown.