Pushing operation for humanoid robot using multipoint contact states

In this paper, we propose new method for the task of pushing an object by a humanoid robot. First, Humanoid robot leans against the task object whose mass and shape are known, and it makes multipoint contact states which the whole body is supported by both hands and feet. We focus on two support polygons which consist of the both hands and one foot, and we make them include the Center of Mass (CoM). In this case, the humanoid robot doesn't need to move the CoM for walking and it is easily possible to make stable gate motion. The force control considering the pushing force and the acceleration control of the CoM are implemented for the gate velocity control. Experimental results show the effectiveness of the proposed method.