Kinematic analysis and solution of the natural posture of a 7DOF humanoid manipulator

Biped walking control and motion planning of humanoid robots have been researched for a long time and have made great progress. In order to serve people, the humanoid's arm should appear natural, have large working space and be easy to avoid obstacles In this paper a 7DOF manipulator with the same joint configuration as human's arm and its planning algorithm is proposed. The arm imitates the posture of human's arm to give the optimal solution in the joint space to make our manipulator look natural. The redundancy is solved and the manipulator's natural posture is derived conveniently and easily. Experiments show the feasibility of the method.