Kinematics and Inverse Kinematics for the Humanoid Robot HUBO2

Abstract

This paper derives the forward and inverse kinematics
\nof a humanoid robot. The specific humanoid that the
\nderivation is for is a robot with 27 degrees of freedom but
\nthe procedure can be easily applied to other similar humanoid
\nplatforms. First, the forward and inverse kinematics are derived
\nfor the arms and legs. Then, the kinematics for the torso and
\nthe head are solved. Finally, the forward and inverse kinematic
\nsolutions for the whole body are derived using the kinematics of
\narms, legs, torso, and head.