Decoupled Closed-Form Solution for Humanoid Lower Limb Kinematics

Table 10

Turn-in-place coordinates (mm).

Stage													Description
0	0	0	191.75	0	0	191.75							Bends down
1	0	−62	191.75	0	−62	191.75							Moves to right
2										0	62	−179.75	Lifts the left foot
3										−10.766	61.058	−179.75	Positions the left foot
4													Rotates the left foot ccw
5										−10.766	61.058	−191.75	Lands the left foot
6	14.772	−59.396	191.75	15	−62	191.75							Moves the hips forward
7	4.005	63.662	191.75	15	62	191.75							Moves hips to the left
8							−4.005	63.662	−179.75				Lifts the right foot
9	0	62	191.75				0	−62	−173.75				Aligns the right foot
10							0	−62	−191.75				Lands the right foot