Title:
Kinematics and Inverse Kinematics for the Humanoid Robot HUBO2+

dc.contributor.author O’Flaherty, Rowland
dc.contributor.author Vieira, Peter
dc.contributor.author Grey, Michael
dc.contributor.author Oh, Paul
dc.contributor.author Bobick, Aaron F.
dc.contributor.author Egerstedt, Magnus B.
dc.contributor.author Stilman, Mike
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines en_US
dc.contributor.corporatename Georgia Institute of Technology. College of Computing en_US
dc.date.accessioned 2013-02-26T17:13:33Z
dc.date.available 2013-02-26T17:13:33Z
dc.date.issued 2013
dc.description.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. en_US
dc.embargo.terms null en_US
dc.identifier.uri http://hdl.handle.net/1853/46250
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.relation.ispartofseries GT-GOLEM-2013-001 en_US
dc.subject Forward kinematics en_US
dc.subject Humanoid robot en_US
dc.subject Inverse kinematics en_US
dc.title Kinematics and Inverse Kinematics for the Humanoid Robot HUBO2+ en_US
dc.type Text
dc.type.genre Technical Report
dspace.entity.type Publication
local.contributor.author Egerstedt, Magnus B.
local.contributor.corporatename Humanoid Robotics Laboratory
local.contributor.corporatename College of Computing
local.relation.ispartofseries Humanoid Robotics Laboratory Technical Report Series
relation.isAuthorOfPublication dd4872d3-2e0d-435d-861d-a61559d2bcb6
relation.isOrgUnitOfPublication 05bf85fb-965e-425d-af8b-dbf56e0d9797
relation.isOrgUnitOfPublication c8892b3c-8db6-4b7b-a33a-1b67f7db2021
relation.isSeriesOfPublication e2b4b849-c3fb-4761-b071-c47f921fc942
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