22

The models do not

has 15degrees of freedom, including 2 DOF hips and 2 DOF ankles.

incorporate any physical joint limits.

can be found in Appendix B.

Dimensions, mass and inertia parameters for both models

These models are quite complex compared to much of the previous work on bipedal systems

which have often assumed very simple bipedal models. In the next chapter, we will present an

approach to generating animations of balanced motion for these creatures, which represents one of

the major contributions of this thesis.

1 m

(a)

(b)

- rotary joint axes

(c)

- monitor point

- rotary joints

Degrees of Freedom

1

2:0
2:1
3
4
5
6:0
6:1

-neck yaw (transverse plane)

-right hip roll (coronal plane)
-right hip pitch (sagittal plane)
-right knee1 pitch (sagittal plane)
-right knee2 pitch (sagittal plane)
-right knee3 pitch (sagittal plane)
-right ankle roll (coronal plane)
-right ankle pitch (sagittal plane)

7:0-left hip roll (coronal plane)
7:1-left hip pitch (sagittal plane)
8-left knee1 pitch (sagittal plane)
9-left knee2 pitch (sagittal plane)
10-left knee3 pitch (sagittal plane)
11:0-left ankle roll (coronal plane)
11:1-left ankle pitch (sagittal plane)

Figure 2.10 - Robo-bird creature
(a)front view (reference position)
(b)left side view (reference position)
(c)typical pose (with monitor points shown)