Joint Table
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1
Motor Number
(Electrical)
Motor Number
(Software/Control)
Group
(Right is viewer right)
Joint Name (From)iJoint Name (To)iDH TransformationDirection of Positive RotationIdeal Joint Limit (degrees)Ideal Joint Limits (radians)Poses
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aalphadthetaminmaxminmaxStandingReady
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Base to RobotGround Frame0Torso10900.35360----
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11Right LegTorso1Right Hip (Side)2-0.0135900.0350Feet Turns Inwards-7530-1.3090.52400
5
22Right Hip (Side)2Right Hip (Front)30-900.1560Leg Goes Inwards-4590-0.7851.57100.05
6
33Right Hip (Front)3Right Thigh40.092900-90Leg Goes Upwards-45135-0.7852.35600.6
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44Right Thigh4Right Calve50.0929000Calve Goes Forwards-1600-2.7930.0000-1.4
8
55Right Calve5Right Ankle60.0827-9000Foot Point Upwards-4590-0.7851.57100.8
9
66Right Ankle Twist6Right Foot7Feet Point Inwards-4545-0.7850.7850-0.05
10
127Left LegTorso1Left Hip (Side)8-0.013590-0.0350Feet Turns Inwards-7530-1.3090.52400
11
118Left Thigh8Left Hip (Front)90-900.1560Leg Goes Outwards-9045-1.5710.78500.05
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109Left Hip (Front)9Left Thigh100.092900-90Leg Goes Upwards-45135-0.7852.35600.6
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910Left Thigh10Left Calve110.0929000Calve Goes Forwards-1600-2.7930.0000-1.4
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811Left Calve11Left Ankle120.0827-9000Foot Point Upwards-4590-0.7851.57100.8
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712Left Ankle12Left Foot13Feet Point Outwards-4545-0.7850.7850-0.05
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1313Right ArmTorso1Right Bicep140.015700.07250Arm Goes Forwards-90225-1.5713.92700.75
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1414Right Bicep14Right Forearm150.100-90Arm Goes Forwards01800.0003.14200
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1515Left ArmTorso1Left Bicep160.01570-0.07250Arm Goes Forwards-90225-1.5713.92700.75
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1616Left Bicep16Left Forearm170.100-90Arm Goes Forwards01800.0003.14200
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1717HeadTorso1Neck18Robot Looks to the Right-9090-1.5711.57100
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1818Neck18Head19Head Looks Downwards-135135-2.3562.35600
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00
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00
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25
26
27
28
29
30
31
32
33
34
35
36
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Left Hip (Side)Left Hip (Front)
38
Left Hip (Front)Left Thigh
39
Left ThighLeft Ankle
40
Left AnkleLeft Ankle Twist
41
Left Ankle TwistLeft Foot
42
43
44
45
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48
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50
51
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56
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