The forward kinematics for the HR1-NFU humanoid robot

We developed the forward kinematics for the HR1-NFU robot in this paper. The forward kinematics is developed based on Denavit-Hartenberg notation. The transformation matrices from the base coordinate frame to all joints of the robot were obtained. The walking strategy includes two states: the right foot is moving and the left foot is moving. When the right foot is moving, the transformation matrix will proceed from the world coordinate frame to the left foot. The coordinates of the left foot and the center of gravity of the robot will be transformed to the world coordinates sequentially. Then, the coordinates of the left hand, right hand and right foot will be transformed to the world coordinates via the coordinates of the center of gravity. The same way, we also figure out forward kinematics when the left foot is moving. Hence, every step of the humanoid robot walking, we can calculate the forward kinematics of all joints on the HR1-NFU robot.