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Three-dimensional modelling of a humanoid in three planes and a motion scheme of biped turning in standing

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3 Author(s)
E. Kim ; Department of Electronics Engineering, Dong-A University, 840 Hadan 2-dong, Saha-gu, Busan 604-714, Republic of Korea ; T. Kim ; J. -W. Kim

The rigorous three-dimensional model of a humanoid is essential for biped walking, turning, carrying and the like. This study presents a new three-dimensional model of a humanoid by adding two joints in the transverse plane for enabling the motion of turning. Using this model, the authors propose a motion scheme for turning the forward direction of a humanoid in standing. In the present work, every component motion carried out per plane is separately illustrated with figures and explanations. Then, a right-hand turning of a humanoid in standing is simulated and implemented with a small humanoid robot for validation. The present work will serve as a foundation for joint trajectory generation about complex three-dimensional motions of a humanoid robot.

Published in:

IET Control Theory & Applications  (Volume:3 ,  Issue: 9 )