Fig. 16

Simulation results when approaching target positions with both hands in a living environment. There is a table and a shelf in the dynamics simulation environment. To avoid collisions, we set waypoints when approaching the target positions of each object (parts (b) and (e) in this figure). First, the HRP-4 approaches the target objects on the table. Then, the HRP-4 moves to the target objects on the shelf (a initial state, c and d intermediate states, and f final state)