Motion Generation for a Humanoid Robot Using Singular Configuration

Abstract

Recently, many researchers are investigating about humanoid robot. However, the humanoid robot is difficult to operate for a long time yet and has not enough hand operational force for real tasks. Because, the performance of the actuator and the battery is not enough for real tasks. We propose applying singular configurations to a humanoid robot’s task to save its energy consumption and to get more power at the its hand. In this report, the classification of the effective combination of the singular configuration is presented.