Lifting motion planning for humanoid robots

Abstract

This paper proposes a method to design COG and end-effector trajectories for whole body motion planning. The IK-solver makes calculations for 24 joints, which include the six joints in each of the robot legs and arms. Using force sensors that was installed on the wrists and ankles, the robot can move objects in three different ways. Based on the information of force sensors, the robot is able to adjust the COG trajectory.