Abstract
This paper presents a control method of an upper-body robot to pick up unknown-mass heavy objects. Based on the human action strategy, bound-proportional-bound center of mass(CoM) planner is proposed. To reduce the consuming torque of the robot, this planner re ects bounded portion near to the base of the robot. In an e ort to improve the stability of the robot, the CoM planner is smoothed. Then an whole-body controller with the improved CoM planner is suggested for an upper-body robot. The control scheme is expressed in the task space and no inverse kinematics are required. Dynamic simulation and experiment are conducted for validation, and have shown competent results.