Chapter 67 — Humanoids

Regrasp planning for pivoting manipulation by a humanoid robot

The pivoting manipulation presented in video 597 is extended for the humanoid robot to carry a bulky object in a constrained environment. Using multiple roadmaps with different grasping positions and free walking motions, the humanoid robot can set down the object near narrow places and then regrasp it from another position to move the object to the goal.
Eiichi Yoshida