Dynamics and balance of a humanoid robot during manipulation tasks

  title={Dynamics and balance of a humanoid robot during manipulation tasks},
  author={Kensuke Harada and Shuuji Kajita and Kenji Kaneko and Hirohisa Hirukawa},
  journal={IEEE Transactions on Robotics},
In this paper, we analyze the balance of a humanoid robot during manipulation tasks. By defining the generalized zero-moment point (GZMP), we obtain the region of it for keeping the balance of the robot during manipulation. During manipulation, the convex hull of the supporting points forms the 3-D convex polyhedron. The region of the GZMP is obtained by considering the infinitesimal displacement and the moment about the edges of the convex hull. We show that we can determine whether or not the… CONTINUE READING
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