Analysis of Preparation Postures in Timing of Titling the torso and Opening the Elbow during Carrying Heavy Object for Improving Humanoid Robot Movements

Abstract

In recent years, labor shortages and the aging of the workforce have become problems. One solution to this problem is the introduction of humanoid robots to perform tasks on behalf of humans. Since humanoid robots have the same structure as humans, they can have a variety of motions by extracting features from human motions and estimating posture. In this study, we focus on the redundant parts of a humanoid robot and human that are not directly related to reaching the target positions of the hands and aim to analyze the stabilization of humanoid robot motions and the preparation posture for movements that require force. In the experiments, we focused on the putting and pulling movements of the shelf, which requires maintaining its balance and exerting force and confirmed the differences in the movements by changing the weight of the objects. We analyzed the movements by focusing on the flexion and extension of the torso and the opening of the elbows while holding the object close to the torso. From the results of the experiments, when the object’s weight was larger, the timing of grasping was earlier, the opening angle of the elbow was larger, and the torso was closer to the target object.