Mobile Crane for Path Tracking of Humanoid Robots

This paper describes the design and control of a mobile crane used for walking experiments conducted on humanoid robots. To prevent humanoid robots from overturning, experiments are conducted while they are connected to a crane. To conduct the walking experiment, a minimum of one operator each is required for controlling the robot and moving the crane. Thus far, an automated mobile crane that can perform the function of a crane operator has not been developed. To obtain high stability and efficiency during the walking experiment, we propose a mobile crane that moves according to the locomotion of humanoid robots. Considering the locomotive property of humanoid robots, the mobile crane was designed to be able to move omnidirectionally, and a control algorithm was developed for the mobile crane to track the position and orientation of the humanoid robot being studied. The performance of the developed mobile crane was evaluated through a walking experiment conducted using a humanoid robot.