A Method Determining the Reaching Behavior of Humanoid Robots

This paper addresses the problem of the reaching motion of humanoid robots. In order to determine the necessary motions for reaching, an object-orientated reachable space (ORS) concept is proposed. After checking whether an object is reachable or unreachable, a standing point (i.e. where the humanoid should stand) is calculated. A method of generating a reaching motion is also described. Simulation results with the humanoid simulator OpenHRP demonstrate the effectiveness of the proposed method.