Research Article
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 |
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