Decoupled Closed-Form Solution for Humanoid Lower Limb Kinematics

Table 6

Forward walking end-effector coordinates (mm).

Stage													Description
0	0	0	185.75	0	0	185.75							Bends down
1	0	62	185.75	0	62	185.75							Moves to left
2							50	−62	−155.85				Moves the right foot forward
3							50	−62	−185.75				Lands the right foot
4	0	−62	185.75	50	−62	185.75							Moves hips to the right and forward
5										−50	62	−155.75	Lifts the left foot from behind
6										50	62	−155.75	Moves the lifted left foot forward
7										50	62	−185.75	Lands the left foot
8	50	62	185.75	0	62	185.75							Moves hips to the left and forward
9							−50	−62	−155.75				Lifts the right foot from behind
10							50	−62	−155.75				Moves the lifted right foot forward
*													Repeat stages 3, 4, and 5
11										0	62	−155.75	Aligns the left foot
12										0	62	−185.75	Lands the aligned left foot