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.
@article{arxiv.2505.23501,
title = {Optimization-based Posture Generation for Whole-body Contact Motion by Contact Point Search on the Body Surface},
author = {Masaki Murooka and Kei Okada and Masayuki Inaba},
journal= {arXiv preprint arXiv:2505.23501},
year = {2025}
}