2016 年 34 巻 7 号 p. 468-477
Humanoid robot has the potential to manipulate wide range of tools at daily life. Arms and legs of humanoid robot contribute this ability. Above all, manipulation tasks for vehicles which are the same size as a life-sized humanoid or larger size than it require the motion by both arms and legs of humanoid robot. In addition to the cooperative motion generator by arms and legs, it is also important for humanoid robot to stabilize self posture during driving vehicle. In this research, we focus on the arms-legs-integrated manipulation task for tricycle controlled by humanoid robot. We discuss and consider not only the control strategy for tricycle manipulation (handling and pedaling) but also the self stabilizing manipulation strategy by humanoid. This paper contributes active and passive switching control system for closed-loop dual-manipulators as common strategy. We show the experimental results for this proposed control system and demonstrate the tricycle manipulation skill by life-sized humanoid robot.