21

1 m

(a)

- rotary joints

(b)

- rotary joint axes

(c)

- monitor points

Degrees of Freedom

1
2

3:0
3:1
3:2
4
5:0
5:1

9
10

-
-

-
-
-
-
-
-

-
-

waist pitch (sagittal plane)
neck pitch (sagittal plane)

left hip roll (coronal plane)
left hip pitch (sagittal plane)
left hip yaw (transverse plane)
left knee pitch (sagittal plane)
left ankle pitch (sagittal plane)
left ankle roll (coronal plane)

left shoulder pitch (sagittal plane)
left elbow pitch (sagittal plane)

6:0
6:1
6:2
7
8:0
8:1

11
12

13

-
-
-
-
-
-

-
-

-

right hip roll (coronal plane)
right hip pitch (sagittal plane)
right hip yaw (transverse plane)
right knee pitch (sagittal plane)
right ankle pitch (sagittal plane)
right ankle roll (coronal plane)

right shoulder pitch (sagittal plane)
right elbow pitch (sagittal plane)

mid-back pitch (sagittal plane)

Figure 2.9 - Complex human model
(a)front view (reference position)
(b)left side view (reference position)
(c)typical pose (with monitor points shown)

A second model has a bird-like structure similar to the biped All-terrain Scout Vehicle (ASV) robot

in the motion picture "The Empire Strikes Back". The robo-bird creature, shown in Figure 2.10,