Unified humanoid manipulation of an object of unknown mass properties and friction based on online constraint estimation

In the case of object manipulation, a humanoid robot should consider the two-body problem between the object and the robot. To achieve this, the motion planner and the controller must satisfy constraints among the robot, the object, and environments. In addition, the objecfs properties such as mass properties and friction are not known a priori and the robot must obtain this information based on sensor feedback. In this paper, we propose a method for uniform humanoid manipulation of an unknown object by estimating objectenvironment constraints based on changes in the robofs force sensor measurements. The proposed method supports various types of manipulation (lifting, pushing, pivoting), various robot contacts (single-armed, dual-armed, full-body), multi-robot cooperative manipulation, and motion on a movable object. We evaluate the proposed method through experiments involving manipulation of large and heavy objects using life-sized real robots.