In this research, we aim at pedaling manipulation task by humanoid. Control strategy for pedaling has the difficult problems to be solved, for example closed-loop and multipoint-contact dynamical systems. For this background, we contribute 2-legs functional controller component which is classified to “Active-Leg” and “Passive-Leg”. “Active-Leg” is the leg that drives crank without slipping from the pedal, and “Passive-Leg” is the leg that avoids pedal by detecting force change. These functional legs realize the unilateral and cooperative manipulation. Then we generally discuss these manipulability and reveal the characteristics for humanlike tendon-driven humanoid.
