Abstract
The aim of this study is to develop a control method of mobile manipulation for humanoid robots, mobile manipulation means the integrated motion centered on arm's manipulation. The main objective of mobile manipulation is to obtain versatile and stable manipulation by arm. In this respect the legs are required to assist arm's manipulation. From viewpoint of the concept, we analyzed sole configuration and arrangement of humanoid robots based on the stability indeces. Relationship between sole configuration and stability indeces is clarified through the computer simulations.
