(Georgia Institute of Technology, 2013)
O’Flaherty, Rowland; Vieira, Peter; Grey, Michael; Oh, Paul; Bobick, Aaron F.; Egerstedt, Magnus B.; Stilman, Mike; Georgia Institute of Technology. Center for Robotics and Intelligent Machines; Georgia Institute of Technology. College of Computing
This paper derives the forward and inverse kinematics
of a humanoid robot. The specific humanoid that the
derivation is for is a robot with 27 degrees of freedom but
the procedure can be easily applied to other similar humanoid
platforms. First, the forward and inverse kinematics are derived
for the arms and legs. Then, the kinematics for the torso and
the head are solved. Finally, the forward and inverse kinematic
solutions for the whole body are derived using the kinematics of
arms, legs, torso, and head.