Analysis of Pushing Manipulation by Humanoid Robot BHR-2 during Dynamic Walking

Taking pushing handcart as a typical example, this paper describes pushing manipulation by humanoid robot BHR-2 during dynamic walking. When robot moves, the displacement of shoulder which is same as waist will affect hands motion without any control of arms. To perform the pushing manipulation, it has to achieve dual arm manipulability that to keep both hands´ posture according with desired motion mode of manipulation task during movement. We analyze characteristics of the pushing manipulation, establish task modeling, present the kinematics of dual arm and realize arm motion for manipulation. The leg trajectory is known and arm trajectory is calculated realtime with inverse kinematics. The effectiveness of dual arm manipulability for pushing handcart during dynamic walking is demonstrated by simulation and experiment.