Manipulability and stability of pushing operation by humanoid robot BHR-2

Taking pushing handcart as a typical example, this paper presents the research on arm manipulability and manipulation stability of the pushing operation by humanoid robot BHR-2. When robot moves, the waist displacement will affect hand motion without any control of arm. We propose the compensation of wrist position by analysing the relationship of hand motion and waist displacement. Considering the interaction between robot hand and the handcart, the stability control of the pushing operation based on desired pushing force is developed. Dual arm motion is realized for desired hand manipulation trajectory. Leg motion is generated off-line and the desired stable trajectory is obtained based on ZMP (Zero Moment Point) criteria. The effectiveness of arm manipulability and manipulation stability is demonstrated by simulation and experiment.