Mobile manipulation of a humanoid robot

This paper presents a method for generating whole body motion including the walking based on the hand trajectory. It is necessary to generate the hand and walking trajectory considering the interaction between manipulation and walking for mobile manipulation. However, to generate the walking trajectory, many elements need to be considered simultaneously. This study aims to generate whole body motion, including the walking based on only the hand trajectory. Firstly, a virtual joint model, which substitutes the biped model, is proposed. The walking trajectory is generated based on the hand trajectory by using this model. Secondly, a method for generating whole body motion including walking is presented. Finally, the effectiveness of the proposed method is evaluated by simulations and experiments.