Kinematics of Biped Legs for Humanoid Robots

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This Demonstration describes a kinematic model of biped legs as part of a humanoid robot. Each leg has six degrees of freedom (DOFs): yaw, roll, and pitch at the hip joint, pitch at the knee joint, and pitch and roll at the ankle joint.
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Contributed by: Frederick Wu (February 2015)
Open content licensed under CC BY-NC-SA
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References
[1] 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.
[2] B. Siciliano and O. Khatib, Springer Handbook of Robotics, Berlin: Springer–Verlag, 2008.
Permanent Citation
"Kinematics of Biped Legs for Humanoid Robots"
http://demonstrations.wolfram.com/KinematicsOfBipedLegsForHumanoidRobots/
Wolfram Demonstrations Project
Published: February 12 2015