Kinematic modeling of a humanoid robot with 18 DOF in a virtual environment

The work presented in this paper is the kinematic modeling of the prototype HR-ARP, after proposing a new approach to modeling of humanoid robots [1] and the direct and inverse kinematic model of the humanoid robot RH-ARP [2] This result comes to complete that study and will after to allow the practical realization of this prototype. The work presented in this paper is interested in kinematic modeling of a humanoid robot with 18 degree of freedom (DOF), three DOF in EACH arm and six DOF per foot.