인간형 로봇의 최적 초기 자세

Abstract

- This paper describes a redundancy resolution based method for determining an optimal initial configuration of a humanoid robot for holding an object. There are three important aspects for a humanoid robot to be able to hold an object. Those three aspects are the reachability that guarantees the robot to reach the object, the stability that guarantees the robot to remain stable while moving or holding the object, and the manipulability that makes the robot manipulate the object dexterously. In this paper, a humanoid robot with 20 degrees of freedom is considered. The humanoid robot is kinematically redundant and has infinite number of solutions for the initial configuration problem. The complex three-dimensional redundancy resolution problem is divided into two simple two-dimensional redundancy resolution problems by incorporating the symmetry of the problem, robot’s moving capability, and the geometrical characteristics of the given robot. An optimal solution with respect to the reachability, the stability, and the manipulability is obtained by solving these two redundancy resolution problems.