Development of Joint Module with Twospeed Gear Transmission and Joint Lock Mechanism during Driving for Task Adaptable Robot In order to achieve tasks in the real world environment, humanoid robots have motors and reduction drives optimized in relation to weight and size for providing the necessary torque and angle speed. Therefore, having torque or angle speed outside of the predicted range will usually cause the task to fail. In this research, we propose a joint module with a twostage transmission mechanism during driving and a joint locking mechanism during nondriving so that the appropriate torque and joint speed can be attained during the task. By applying the joint module to a tricycle type robot and switching the driving state during the task execution, we were able to both reduce the motor load when lifting heavy objects at driving time and keep high rigidity of the joint at nondriving time.

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.