Abstract
A hardware platform of a humanoid robot has already been developed in the last few years ; it encourages further studies in this field. Many studies have given weight to biped walking based on only stability of the robot : steady-state walking, high-speed dynamic walking, jumping and so on. A humanoid robot is, however, a kind of integrated machines : a two-arm and twoleg mechanism. Hence, we must focus not only locomotion function but also arm's function ; especially, a major function of arms is manipulation and handling. In this paper, based on the viewpoint of our concept, we analyzed sole shapes and sole configuration of a humanoid robot for generating large force at its hands. We focused on the shape of the convex of supporting area which consists of the sole plates of the robot in double support state. According to the simulation results, we have verified that utilizing the stroke between both legs and the orientation of the sole is effective for improving performance of the robot.
