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
Sign-in/Register to access full text options 
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
