Manipulation with the AH1N2 humanoid robot an underactuated/overactuated problem

The first contribution of this work is the model of the AH1N2 humanoid robot as the fusion of five kinematic open chains, one for each extremity. This allows to calculate the relative position of any of the robot links and its control as a single entity. The second contribution is the analysis of the robot five degree of freedom arm. It presents two solutions for the inverse geometric model. First, when only the position is considered, it is overactuated, therefore an infinite number of solutions exist, we found them as sets of related joint intervals, but this method is computational intensive. So we propose another method to obtain the joint positions, in this case the desired position and approach direction are the input to an algorithm that gets the best solution for the problem. We also present an efficient way to compute the kinematic model (Jacobian) and its inverse and use it to solve the movement problem without the need of the solution of the inverse geometric model. The singularities of the workspace that result of the Jacobian analysis are also presented in the work.