Motion planning of optimal throw for whole-body humanoid

This presentation proposes a numerical framework that optimizes the throwing motions and generates the associated dynamic features for a whole-body humanoid. Rigorous dynamic models, such as actuation, biped balance based on Zero-Moment Point (ZMP), and ground reaction loads, are associated with the constraints. The algorithm outputs include the motion, required actuator torques, release parameters, and object projectile. Realistic human-like motions of sidearm and maximum distance throwing are generated as optimized solutions. The sidearm throw shows better optimality than the overarm throw in terms of actuator torques under the proposed mechanical model. The maximum distance throw is associated with active movement of the arm and torso with larger ranges of motion.