Task method by singular configuration for Humanoid robot

点击翻译按钮获取中文摘要

In general, robot has to avoid a singular configuration, since degeneration of degree of freedom. Humanoid robot has a capability to perform tasks in the state of the singular configuration. Because humanoid robot has many degree of freedom. In this paper, new control method for humanoid robot with selective utilization of actuator by singular configuration is proposed. At first, we define the effective singular configuration for a task, and introduce the classification of joint. Next, we propose a method to derive the joint with effective singular configuration. Finally, we demonstrate a physical simulation results that pushing task with singular configuration. The advantage of proposed method is that it allow to save robot's energy consumption and to get more power at the its hand.