Decoupled Closed-Form Solution for Humanoid Lower Limb Kinematics

Table 11

Turn-in-place angles (rad).

Stage
0	0.0	0.0	−0.326	−0.326	0.661	0.661	−0.335	−0.335	0.0	0.0	0.0
1	−0.312	−0.312	−0.108	−0.108	0.220	0.220	−0.111	−0.111	0.312	0.312	0.0
2	−0.312	−0.332	−0.108	−0.349	0.220	0.709	−0.111	−0.359	0.312	0.332	0.0
3	−0.312	−0.327	−0.108	−0.406	0.220	0.709	−0.111	−0.302	0.312	0.327	0.0
4	−0.312	−0.327	−0.108	−0.406 + 0.174	0.220	0.709	−0.111 + 0.174	−0.302	0.312	0.327	−0.248
5	−0.312	−0.308	−0.108	−0.161 + 0.174	0.220	0.220	−0.111 + 0.174	−0.058	0.312	0.308	−0.248
6	−0.300	−0.312	−0.192	−0.154 + 0.174	0.239	0.162	−0.046 + 0.174	−0.008	0.300	0.312	−0.248
7	0.320	0.312	−0.099	−0.154 + 0.174	0.162	0.162	−0.062 + 0.174	−0.008	−0.320	−0.312	−0.248
8	0.340	0.312	−0.362	−0.154 + 0.174	0.692	0.162	−0.329 + 0.174	−0.008	−0.340	−0.312	−0.248
9	0.342	0.312	−0.421	−0.108	0.855	0.220	−0.434	−0.111	−0.342	−0.312	0.0
10	0.312	0.312	−0.108	−0.108	0.220	0.220	−0.111	−0.111	−0.312	−0.312	0.0