Abstract
Our researcher group has proposed the local forward/inverse kinematics based a kinematics calculation system, which consists of one-to-one calculation between each axis and end-effector. Generally, inverse kinematics calculations of biotype robots are assembled from individual calculations of parts of the robot body. In this study, the kinematics calculation method is applied to Humanoids and biotype robots for imitating life and virtual life. This report describes details of calculation model based on the local forward/inverse kinematics, and case studies of configurations of a elephant, arms, a humanoid, and a virtual life configured by connecting a humanoid and arms.
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