Forward Kinematics of Humanoid Robots

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A humanoid robot is designed to replicate human characteristics such as height, shape, behavior, language, and cognition, so that it can function in human environments, interact with humans in daily life, or even replace humans at work. Many humanoid robots have been created in the past few decades by worldwide research, with examples such as the Honda ASIMO, AIST HRP, Aldebaran Nao, and so on. Intelligent-humanoid robotics is a cutting-edge challenge that will continue to play a central role in robotics research and applications in the twenty-first century.


This Demonstration shows a humanoid robotics model of forward kinematics with 30 degrees of freedom (DOF). You may select a pattern to command the robot for some simple actions, or use the menu slider to control the robot's rotation angles about each joint.


Contributed by: Frederick Wu (September 2014)
Additional contributed by: Qixin Xu and Fan Wang



This Demonstration was inspired by Professor Oussama Khatib's Introduction to Robotics Course, available free online through


[1] J. J. Craig, Introduction to Robotics: Mechanics and Control, 3rd ed., Upper Saddle River, NJ: Pearson/Prentice Hall, 2005 pp. 62-82.

[2] J. Denavit and R. S. Hartenberg, "A Kinematic Notation for Lower-Pair Mechanisms Based on Matrices," Journal of Applied Mechanics, 22(2), 1955 pp. 215-221.

[3] B. Siciliano and O. Khatib, Springer Handbook of Robotics, Berlin: Springer-Verlag, 2008.