Analysis of Torso and Shoulder Joint Posture in the Movement of Luggage between Lined Shelves based on Joint Torque Estimation

Abstract

We focus on the torso and shoulders and analyze the movements of these joints during specific tasks in order to generate humanoid movements that take advantage of redundant joints. In addition to grasping an object and shifting the center of gravity, we selected a task that requires rotation of the torso to carry a package between shelves for analysis. For this movement, the joints whose joint torque values changed significantly when the mass of the load to be transported was changed to a larger one were considered to be the joints that contribute significantly to the load-transportation movement, and were the target of the postural analysis. The joint torques of 20 joints in the whole body and a total of four joint angles (torso flexion extension, torso lateral flexion, torso rotation, and shoulder flexion abduction) were measured for the evaluation.