Whole Body Motion Control Framework for Arbitrarily and Simultaneously Assigned Upper-Body Tasks and Walking Motion

A walking motion of a humanoid has been analyzed or developed without considering motions of the remaining parts of the humanoid. In order to perform tasks in the human’s living environment, a walking motion and assigned tasks must be considered at the same time. In this paper, a whole body motion generation method, i.e., the motion embedded CoM Jacobian method is introduced. With the method, a balance control and assigned motions are separated and thus, the assigned motions can be generated without considering balance of a humanoid. As experimental examples, whole body motion of a humanoid is assigned by the tele-operation. Arbitrarily assigned upper body motions and independently generated walking motions are combined to generate a balanced whole body motion with the suggested methods.