Simulation of Force Tasks by a Humanoid Robot Using Wrench Distribution Based on Virtual Repellent Point (VRP)

Abstract

Force exertion by humanoid robots requires coordinated whole-body control that takes into account reaction forces from points of contact with the environment. In this study, we generate and simulate force-actuated motions to exert force on the external environment using a wrench distribution based on VRP (Virtual Repellent Point). HRP-2, hrpsys, and OpenHRP3 will be used for the simulations. Force actions to apply arbitrary wrenches to a wall surface will be performed in both simulations using Choreonoid and OpenHRP3, and the results will be compared.