Abstract
The rigorous three-dimensional model of a humanoid is essential for biped walking, turning, carrying and the like. This study presents a new three-dimensional model of a humanoid by adding two joints in the transverse plane for enabling the motion of turning. Using this model, the authors propose a motion scheme for turning the forward direction of a humanoid in standing. In the present work, every component motion carried out per plane is separately illustrated with figures and explanations. Then, a right-hand turning of a humanoid in standing is simulated and implemented with a small humanoid robot for validation. The present work will serve as a foundation for joint trajectory generation about complex three-dimensional motions of a humanoid robot.
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.
