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. So the legs are required to assist arm's manipulation. 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 visualized their performances and have verified that utilizing the stroke between both legs and the orientation of the sole is effective for improving performance of the robot.
