Mobile manipulation of humanoids-real-time control based on manipulability and stability

TLDR

The study proposes a real‑time control method enabling a humanoid to perform arm tasks while moving. The method uses impedance control to keep arm tips on target while an evaluation function combining stability and arm manipulability guides body and leg adjustments for optimal performance. Simulations and experiments demonstrate that the humanoid can autonomously step or remain standing while coordinating arm tip motion, confirming the method’s effectiveness.

Abstract

A real-time control method for a humanoid in mobile manipulation, doing tasks with its arms while moving, is proposed. The arm tips always follow their desired position with external force applied by impedance control, for carrying out a given task with the arms. An evaluation function consisting of not only stability but also arm manipulability-both are important for mobile manipulation-is defined; the humanoid controls its body and legs so that this evaluation may be optimal. As a result, the humanoid autonomously steps or keeps standing, coordinating with the arm tips motion. The effectiveness and usefulness of the proposed method are ascertained by computer simulations on a humanoid of human-size and experiments using a small experimental robot.