Whole-Body Control of Humanoid Robot with 3D Multi-contact, Self Collided Posture and Degenerated DoF under Constraints of Contact Wrench and Motor Temperature

Abstract

Self collided posture can reduce the load of joints because contact points between colliding links can support the mass of body. To realize 3D multicontact posture with self collision, there are difficulties in handling joint temperature constraints, contact wrench constraints, and degenerated degree of freedom. In this paper, we propose a method of quadratic optimization control integrating wrench distribution and inverse kinematics in which internal wrench is controlled only in controllable directions to reduce excess internal wrench, to satisfy contact wrench constraints and to keep collided posture with servo gain of joints between colliding links zero. With our methods, HRP2-JSKNTS could pick up an object under a desk with supporting the body with the right arm and squatting with the back of the upper leg on the back of the lower leg.