FLoW bipedal robot: Hula hoop motion

In this paper, we described a model and a simulation of forward and inverse kinematics of a parallel link leg performing a predefined hula-hoop motion of FLoW, a bipedal humanoid robot. This lower body leg having 12 DOF links and joins configuration were described using D-H parameters. It was assumed that the motion is slow enough. Thus, by keeping the centre of mass projection to the floor to be always inside the support polygon of the robot the system can be regarded as stable.