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