Generating a Key Pose Sequence Based on Kinematics and Statics Optimization for Manipulating a Heavy Object by a Humanoid Robot When a humanoid robot manipulates a heavy object, balance and heavy loads become problems. To solve these problems, we provide a method to generate a key pose sequence of the robot and the object which balance constraints and joint torque limits are kept. As we consider the configurations of both the robot and the object, the key poses of them are optimized in a view of kinematics and statics. Moreover, we generate a smooth key pose sequence by adding an objective function which makes adjacent poses closer. By using the proposed method, we make a humanoid robot RHP4B place a heavy suitcase on a step.

WholeBody Control of Humanoid Robot in 3D MultiContact under Contact Wrench Constraints Including Joint Load Reduction with SelfCollision and Internal Wrench Distribution In this paper, we propose an approach for online wholebody control of positioncontrolled humanoid robot with 3D multicontact to cope with contact wrench constraints and joint overload. In our method, robots are controlled under contact wrench constraints with three features: 1) internal wrench control to reduce joint load and prolong the time in which the highload postures can be maintained 2) feasible utilization of selfcollision to reduce joint load by turning off joint servo gains 3) handling degenerated degree of freedom by solving a quadratic optimization problem integrating wrench distribution and inverse kinematics in which internal wrench is controlled only in controllable directions.With our methods, HRP2JSKNTS could pick up an object under a desk with squatting with the back of the upper leg on the back of the lower leg without sliding at the right arm. We also evaluated the effectiveness of our control to reduce joint load with another experiment.