Drop prevention control of carrying multiple objects by Humanoid Robots

Abstract

In this study, we realized to make a humanoid robot carry multiple stacked objects. When a humanoid robot carries stacked objects, the positional relationship between objects that are not grasped changes due to the impact during walking. This misalignment accumulates and eventually causes the objects to drop. In this study, we propose a method to prevent sudden changes in the position and posture of object by smoothing the hand trajectory, and modify the misalignment by tilting the entire object. Through experiments using a simulator and using an actual robot, we verified that the proposed method is effective for carrying stacked objects by a humanoid robot.