Abstract
It is more difficult and sophisticated to analyze the humanoid kinematics than the common industrial serial manipulator’s because of its high number of DOF, complex model, and balance constraints. Taking the advantages of the characteristics in the configuration of leg’s joints of humanoid, based on the screw theory, according to the trajectory planning of the center of mass and the feet, a method is proposed to solve the kinematics of humanoid’s legs using Paden-Kahan sub-problems approach. The solving process indicates that the mathematical modeling is of simpleness and briefness, while it is of convenience to solve the inverse kinematics
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