Riku Shigematsu

Generating a Key Pose Sequence Based on Kinematics and Statics Optimization for Manipulating a Heavy Object by a Humanoid Robot

When a humanoid robot manipulates a heavy object, balance and heavy loads become problems. To solve these problems, we provide a method to generate a key pose sequence of the robot and the object which balance constraints and joint torque limits are kept. As we consider the configurations of both th…