A Null-Space based Behavioural control approach to coordinated motion of a humanoid robot

In this paper the Null-Space based Behavioural control is used to coordinate the motion of the highly redundant kinematic structure of a humanoid robot. A set of elementary behaviours is considered, which are differently composed in nature and priority so as to accomplish some typical basic actions. A sequence of actions is then considered in a simulation case study to execute a grasp-move-and-release mission.