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arXiv · 2505.23501

Optimization-based Posture Generation for Whole-body Contact Motion by Contact Point Search on the Body Surface

Masaki Murooka·Kei Okada·Masayuki Inaba
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Abstract

Whole-body contact is an effective strategy for improving the stability and efficiency of the motion of robots. For robots to automatically perform such motions, we propose a posture generation method that employs all available surfaces of the robot links. By representing the contact point on the body surface by two-dimensional configuration variables, the joint positions and contact points are simultaneously determined through a gradient-based optimization. By generating motions with the proposed method, we present experiments in which robots manipulate objects effectively utilizing whole-body contact.

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Masaki Murooka, Kei Okada, Masayuki Inaba. 2025-05-29. Optimization-based Posture Generation for Whole-body Contact Motion by Contact Point Search on the Body Surface. https://doi.org/10.1109/lra.2020.2974689

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