Humanoid Robot Torso Motion Planning Based On Manipulator Pose Dexterity Index

Humanoid robot operation task is mainly executed with arm-torso system. The torso system can effectively increase humanoid robot arm operation range and vision range of the humanoid robot, but it also increases the difficulty of the humanoid robot motion planning. Humanoid robot torso increases humanoid robot arm operation range by changing the pose of the robot arm base and it also reconstruct humanoid robot arm workspace pose dexterity. Humanoid robot torso position is optimized with manipulator pose dexterity in different humanoid robot arm sub-workspace. For different operation tasks, the indicators to be considered for the position of the torso joint include: whether the robot arm can grasp the target position, whether the specified motion trajectory can be reached, and whether it has higher dexterity in specified motion trajectory. In this paper, we consider higher manipulator pose dexterity sub-workspace is better operation position, and we introduce a scheme to optimize torso joint position.