Integration of manipulation and locomotion by a humanoid robot

This paper studies the integration of manipulation and locomotion by a humanoid robot. We will show that the walk and work capabilities of a humanoid robot can be enhanced by integrating manipulation and locomotion. Especially, we focus on three motions of a humanoid robot: pushing a heavy object placed on the floor, working while thrusting a hand on to a desk, and ascending large steps while holding a handrail for support. These motions are realized by experiment using the humanoid robot HRP-2.