Research Article
Decoupled Closed-Form Solution for Humanoid Lower Limb Kinematics
Table 8
Lateral walking end-effector coordinates (mm).
| Stage | | | | | | | | | | | | | Description |
| 0 | 0 | 0 | 188.75 | 0 | 0 | 188.75 | | | | | | | Bends down | 1 | 0 | 62 | 188.75 | 0 | 62 | 188.75 | | | | | | | Moves to left | 2 | | | | | | | 0 | −62 | −176.75 | | | | Lifts the right foot | 3 | | | | | | | 0 | −45 | −188.75 | | | | Lands the right foot | 4 | 0 | −62 | 188.75 | 0 | −45 | 188.75 | | | | | | | Moves hips to the right | 5 | | | | | | | | | | −50 | 72 | −176.75 | Lifts left foot | 6 | | | | | | | | | | 0 | 72 | −188.75 | Lands the left foot | 7 | 0 | 72 | 188.75 | 0 | 62 | 188.75 | | | | | | | Moves hips to the left | 8 | | | | | | | | | | 0 | −72 | −176.75 | Lifts the right foot | * | | | | | | | | | | | | | Repeat stages 3 and 4 | 9 | | | | | | | | | | 0 | 62 | −176.75 | Aligns the left foot | 10 | 0 | −62 | 188.75 | | | | | | | | | | Moves to right |
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