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 0188.75 Bends down
1 0 62 188.75 0 62188.75 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 −5072 −176.75 Lifts left foot
6 072 −188.75 Lands the left foot
7 072188.75062188.75 Moves hips to the left
8 0−72−176.75 Lifts the right foot
* Repeat stages 3 and 4
9 062−176.75 Aligns the left foot
10 0−62188.75 Moves to right