Decoupled Closed-Form Solution for Humanoid Lower Limb Kinematics

<table class="table-group" id="tab2"><tr><td><table class="table"><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr class="thead"><td align="left">Limb </td><td align="center"> Dimension </td></tr><tr><td class="thead-hr" colspan="2"><hr/></td></tr><tr><td align="left"><span style="width: 9.45612ptpx;"><svg height="13.0867pt" id="M33" style="vertical-align:-3.4088pt" version="1.1" viewbox="-0.0498162 -9.6779 9.45612 13.0867" width="9.45612pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.0135,0,0,-0.0135,0,0)"><path d="M238 681C243 705 239 712 230 712C217 712 156 682 75 674L70 648H105C148 648 153 641 144 598L39 110C18 11 35 -12 55 -12C90 -12 166 36 221 103L205 125C174 93 130 65 118 65C112 65 108 68 114 96L238 681Z" id="g113-109"></path><glyph.data ascent="3473" descent="-2876" horiz-adv-x="269" vert-adv-y="269"></glyph.data></g><g transform="matrix(.0095,0,0,-0.0095,3.306,3.264)"><path d="M576 34L567 61C554 54 531 44 505 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Mathematical Problems in Engineering

tab2

Table 2

Table 2: Decoupled Closed-Form Solution for Humanoid Lower Limb Kinematics 