Remote control for redundant humanoid arm using optimized arm angle

This paper proposes a method to solve the redundancy problem by using an optimized arm angle with a 7DOF humanoid arm controlled by a 6DOF remote controller. This study presents a method to determine the feasible arm angle range within which joint limits, self-collision, and singularity do not occur, using the characteristic that the configuration of the arm changes according to the arm angle, even when the end-effector's desired task is satisfied. When the arm angle is applied, the multivariate optimization problem to solve the redundancy problem can be simply expressed as a univariate optimization problem. To verify the effectiveness of the proposed method, experiments were performed using a 6DOF data arm and the DRC-HUBO+ humanoid platform. We confirmed that the robot moves flexibly by finding the optimal arm angle so that sub-tasks such as joint constraints, selfcollision, and singularity can be satisfied while performing the desired task of the end-effector.