Humanoid Robotxe2x80x99s ForceBased Heavy Manipulation Tasks with TorqueControlled Arms and Wrist Force Sensors We present a torque controller for humanoid robotxe2x80x99s arm and a method to execute heavyload tasks under that controller. Torque control of arms can reduce the joint load when an impulsive force is applied to the robotxe2x80x99s hand. This feature is important for robots that will work among many humans or obstacles because accidental collisions may happen in such situations. We also developed a static force filter for force sensors at the endeffectors. This filter is utilized for the compensation for the static reaction force during heavyload tasks. A lifesized humanoid robot JAXON digs soil with a shovel and carries soil with a wheelbarrow using our proposed controller.

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.