抄録
This paper describes lifting motion by making use of preliminary whole body motion of humanoid to apply impulsive force to an object. Impulsive force is available for dynamically lifting an object which is not lifted by continuous force. We propose the method of positioning the center of percussion (CoP) for stabilization of robot against the impulse which causes tumble of robot when an object is lifted. Then motion of robot just before lifting where CoP is set at the center of support polygon is analyzed. We also design the preliminary motion of humanoid for lifting with preventing from slipping, leaning and jumping of robot and object. The effectiveness of the proposed method is shown by simulation.
