Fig. 9
From: Robot body self-modeling algorithm: a collision-free motion planning approach for humanoids
TMA values during lifting time resulted in minimization of four objective functions are illustrated together with toe and heel lines as boundaries of base of support (BOS). TMA, ATsum, Dqssum and TrqSum are predicted joint profile resulted in minimization of following objective functions respectively: \(F_{TMA}\), \(F_{ank}\), \(F_{\varDelta \theta }\) and \(F_{\tau }\). The bounded values of TMA prove the stability of the motion. The vertical axis is total moment arms of links which is in Meter and the horizontal axis shows the time sequences which is in 0.12Â s scale