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Conference Paper in Proceedings - IEEE International Conference on Robotics and Automation · June 1995
DOI: 10.1109/ROBOT.1995.525462 · Source: IEEE Xplore
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Hagen Schempf
Carnegie Mellon University
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Hip X
mh
ltc
lt
mt, It
Figure 3: Human kicking sequence
Is
us to develop the kinematic requirements for the leg shown θt
ls ms lcs
in Figure 4.
θs
lt:.............Length of thigh
ltc: ...........Length from hip-joint to thigh centroid
mt:...........Mass of thigh
It: ............Thigh inertia about mass-centroid
ls: ............Length of shank
lcs: ...........Length from knee to shank centroid
ms: ..........Mass of shank
Is: ............Shank inertia about mass-centroid
mh: ..........Mass of hip
θt: ...........Thigh angle
θs: ...........Shank angle
x,y:..........Linear hip displacements