Title:
Kinematics and Inverse Kinematics for the Humanoid Robot HUBO2+
Kinematics and Inverse Kinematics for the Humanoid Robot HUBO2+
Author(s)
O’Flaherty, Rowland
Vieira, Peter
Grey, Michael
Oh, Paul
Bobick, Aaron F.
Egerstedt, Magnus B.
Stilman, Mike
Vieira, Peter
Grey, Michael
Oh, Paul
Bobick, Aaron F.
Egerstedt, Magnus B.
Stilman, Mike
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Abstract
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.
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Date Issued
2013
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Text
Resource Subtype
Technical Report