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A Practical Humanoid Robot Morphology for Operation in Civilian Environments

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Figure

Table 1: A comparison of features of several state of the art robotsdeveloped for operation in civilian environment including the proposed morphology referred to here as ‘Robbie’
Figure 2: (a) A labelled diagram of the proposed morphology including the robot’s actuated degrees of freedom (in italic) (b) the coordinate system used when applying the DH method for determining the forward kinematics (c) the DH joint angles relative to
Table 2: The DH parameters for the robot morphology
Figure 3: (a) Pose with high SSM (b) Pose with low SSM
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