This paper presents a balance-centered planner for object re-posing. It uses Center-of-Mass (CoM) constraints to preserve robot stability and provides stable, IK-feasible, and collision-free upper-body poses, allowing the robot to complete dexterous object manipulation tasks with different objects. The technical contributions of the planner are two-fold. First, it evaluates the robot stability margin for each robot pose during manipulation planning to find a stable manipulation motion. Second, it provides an RRT-inspired task-related stability estimation used to compare different bipedal stances. Simulations and real-world experiments are performed with the HRP-5P humanoid robot, the 5th generation of the HRP robot family, to validate the planner and compare different robot stances and approaches for object re-posing. The experiment results suggest that the proposed planner provides robust behavior for the humanoid robot while performing re-posing tasks.

中文翻译：

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考虑双足稳定性约束的物体重定位：一种在人形操纵过程中保持稳定性的方法

本文提出了一种以平衡为中心的对象重定位规划器。它使用质心 (CoM) 约束来保持机器人稳定性，并提供稳定、IK 可行且无碰撞的上身姿势，使机器人能够完成对不同物体的灵巧物体操纵任务。规划器的技术贡献是双重的。首先，它在操纵规划期间评估每个机器人姿势的机器人稳定性余量，以找到稳定的操纵运动。其次，它提供了一个受 RRT 启发的任务相关稳定性估计，用于比较不同的双足姿态。使用 HRP 机器人家族的第 5 代 HRP-5P 仿人机器人进行模拟和真实世界实验，以验证规划器并比较不同的机器人姿态和物体重定位方法。