Optimal Configuration and Joint Torque Distribution of Legged Mobile Manipulators for Tasks with Unknown Force Change

Abstract

   The optimal configuration and joint torque distribution of a humanoid robot for generating desired force at its hands is discussed. The robot is required to stand stably and to support the force and its weight under the constraint of maximum joint torques. Furthermore, it is important to keep the robot controllable against sudden change in the force. From this point of view, an evaluation function for generating large force based on statics is proposed; we focus jacobian matrices of two arms and legs to give the robot adaptability to force change. Then the method of obtaining the optimal configuration, footholds and joint torques of the robot is described. The effects of the method are verified through computer simulations.