Abstract
This paper proposes a novel architecture for a biped robot with six DOFs per leg and an active toe DOF (Degrees of Freedom). The arrangement of three successive DOFs paralleled to each other makes its inverse kinematics simple and decoupled by omitting one DOF which is unnecessary when walking. And this work presents close equations for the forward and inverse kinematics. The results can be used in the kinematic control study of the robot.
Full Text 
Sign-in/Register to access full text options
Sign-in/Register to access full text options 
Published version (
Free)
Free) 
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 call
