• Login
    View Item 
    •   SMARTech Home
    • Institute for Robotics and Intelligent Machines (IRIM)
    • IRIM Research and Technical Reports
    • Humanoid Robotics Laboratory Technical Reports
    • View Item
    •   SMARTech Home
    • Institute for Robotics and Intelligent Machines (IRIM)
    • IRIM Research and Technical Reports
    • Humanoid Robotics Laboratory Technical Reports
    • View Item
    JavaScript is disabled for your browser. Some features of this site may not work without it.

    Kinematics and Inverse Kinematics for the Humanoid Robot HUBO2+

    Thumbnail
    View/Open
    hubo-kinematics-tech-report.pdf (724.5Kb)
    Date
    2013
    Author
    O’Flaherty, Rowland
    Vieira, Peter
    Grey, Michael
    Oh, Paul
    Bobick, Aaron
    Egerstedt, Magnus
    Stilman, Mike
    Metadata
    Show full item record
    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.
    URI
    http://hdl.handle.net/1853/46250
    Collections
    • Humanoid Robotics Laboratory Technical Reports [15]
    • Humanoid Robotics Laboratory Technical Reports [15]

    Browse

    All of SMARTechCommunities & CollectionsDatesAuthorsTitlesSubjectsTypesThis CollectionDatesAuthorsTitlesSubjectsTypes

    My SMARTech

    Login

    Statistics

    View Usage StatisticsView Google Analytics Statistics
    facebook instagram twitter youtube
    • My Account
    • Contact us
    • Directory
    • Campus Map
    • Support/Give
    • Library Accessibility
      • About SMARTech
      • SMARTech Terms of Use
    Georgia Tech Library266 4th Street NW, Atlanta, GA 30332
    404.894.4500
    • Emergency Information
    • Legal and Privacy Information
    • Human Trafficking Notice
    • Accessibility
    • Accountability
    • Accreditation
    • Employment
    © 2020 Georgia Institute of Technology