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Kinematics and Inverse Kinematics for the Humanoid Robot HUBO2+
(Georgia Institute of Technology, 2013)
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 ...
Krang Kinematics: A Denavit-Hartenberg Parameterization
(Georgia Institute of Technology, 2014)