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Abshncl-Mobile manipulation control metbod for humanoid robots provides gwd manipulability and stability on manipulation tasks. This method leads whole body motion and locomotion, when L e manipulator tip trajectory is decided. For the dexterous manipulation, the mbot has to cope with L e unexpected forees ading to the bands. By assuming the statical balance, we define the projection of the CoM as "Complement Zem Moment Point(CZMP)", when the extemal forces ad to the end-elledom. We propose to use the CZMF' for the modification control of CoM with balancing control. The method is implemented to the mobile manipulation control method and the effectiveness is con6med by the experimental results.

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For realizing humanoid robots coexist with humans, it is important to evaluate on shape and motions of a real humanoid robot. This paper compares impressions given by the humanoid robot HRP-2 and the mobile manipulator based on psychological methods. We also evaluated the injluence of pick and place motion of the humanoid robot to human sense of security. As a result of analysing the questionnaire, it is found that turning the body coordinating with the arm gives good impression on humans. It will be an effect of human-like motion of humanoid robots.