Abstract
The aim of this research is to achieve adaptive carrying behaviors using the whole body of a humanoid robot; in other words to create humanoid robots' “pick-and-place” behaviors. We developed a small-sized whole-body humanoid robot. The robot's body consists of 22 DOFs, lots of sensors, an onbody micro processor network, and a wireless modem. The robot's brain consists of primitive sensor-motor reflex modules running in parallel as a lower layer and an event-driven planner that starts/stops appropriate modules as a higher layer. Using this system the robot can hold, lift up, and put down various objects without knowing its size, hardness or weight. We believe this work will be one of footholds toward achieving various whole-body behaviors of humanoid robots, especially carrying behaviors.
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