Manipulation Method Using Wheeled-Hand Mechanism for Humanoid Robot

A new manipulation method by using wheeled-hand mechanism for humanoid robots is proposed. The manipulation enables long range reaching tasks by putting hands on the table. The wheeled-hand mechanism can change continuously the contact point of the hand and the table by wheel. The wheeled-hand motion is controlled considering the stable whole body motion. We define multipoint support regions defined by two legs and one hand, and the center of mass (CoM) of the robot is controlled to be located in them. The support polygon is defined so that the robot keeps stability even if one hand lifts off to catch a target object. In this method, the robot can catch the object in far place on the table without discrete step motion with arm. We develop a prototype wheeled-hand and implement it to humanoid robot HRP-2. The validity of the proposed method is confirmed by experiment.