Abstract
In this paper we propose a new method to manipulate a heavy object for a humanoid. In this method the manipulation strategy is determined according to online estimation of the operational force. We integrate this function with a real-time controller controlling the external force and maintaining fullbody balance. The feature point of our work is that since a fullbody control system includes switching of the manipulation strategy according to the operational force estimated online the system enables a humanoid to manipulate a heavy object likewise a light object. The effectiveness of our control system is confirmed by an experiment, in which a humanoid carries a 12[kg] object.
