主催: (社)計測自動制御学会システムインテグレーション部門
p. 49
This paper proposes the pushing manipulation of an object placed on the floor by a humanoid robot. To realize the pushing manipulation, we consider two kinds of ZMPs, i.e., the convensional ZMP and the generalized ZMP. To avoid the humanoid to tip over, we obtain the region of the generalized ZMP on the floor. We also show that the difference between two ZMPs corresponds to the magnitude of pushing force.