Pushing motion of humanoid robot on dynamic locomotion

This paper describes the pushing motion of a humanoid robot. It is difficult to achieve a pushing motion at constant velocity of an object since the body velocity fluctuates during the dynamic walking. Furthermore, the analysis of walking stability becomes complicated with the pushing force. We constructed a humanoid control system that is separated to an upper body controller and a lower body controller. The upper body concentrates on the force control with a constant command. The lower body deals with the biped locomotion and is controlled so that the object is within range of the arm movement. This combination of two separated controllers solves the in the pushing motion of humanoid robots. Simulation results show that the pushing motion with constant velocity of the object was achieved.