This paper presents kinematics analysis for the DARwIn-OP (Dynamic Anthropomorphic Robot with Intelligence – Open-Platform) robot. This is a 20-dof humanoid walking robot developed by Virginia Tech, Purdue, and the University of Pennsylvania and marketed by Robotis Inc. The robot version analyzed in this paper is 455 mm tall and has a mass of 2.8 kg. Ohio University has two of these units for robot applications research and teaching. Presented are a description of DARwIn-OP, the Denavit-Hartenberg Parameters for each serial chain (2-dof head pan/tilt, 3-dof arms, and 6-dof legs), specific length parameters, joint angle limits, plus forward pose kinematics equations and partial inverse pose kinematics solutions, with examples.
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Robert L. Williams (2012) studied this question.