A novel inverse kinematics solution for a 7-DOF humanoid manipulator

Based on the special structure of a 7-DOF humanoid manipulator and its characteristics of self-motion, we propose a novel inverse kinematics solution using the geometric method at the level of position. The self-motion of the redundant manipulator is demonstrated and is used to solve the inverse kinematics. The method is concise and easy to realize, and the simulation results prove its efficiency.