Research Article
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 |
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