Skip to main content

Table 2 It shows the 12 possible conditions due to the vertical position of the joints and relevant 12 candidates self-models

From: Robot body self-modeling algorithm: a collision-free motion planning approach for humanoids

No. candidate self-model

Conditions according to relative positions of joints

1

y k  ≥ y h    &   y e  ≥ y s

2

y k  ≥ y h    &   y e  < y s    &   y e  ≤ y k

3

y k  ≥ y h    &   y e  < y s    &   y e  > y k

4

y k  ≥ y h    &   y e  = y s    &   y e  > y h

5

y k  < y h    &   y e  ≥ y s    &   y e  ≥ y h

6

y k  < y h    &   y e  < y s    &   y e  ≥ y h

7

y k  < y h    &   y e  < y s    &   y e  < y h

8

y k  < y h    &   y e  < y s    &   y e  < y k

9

y k  < y h    &   y e  = y s    &   y e  > y h

10

y k  < y h    &   y k  ≤ y s  < y h    &   y k  < y e  ≤ y hd

11

y k  < y h    &   y s  < y h    &   y hd  < y e  ≤ y h

12

y k  < y h    &   y s  < y h    &   y e  < y hd  ≤ y k

  1. Numbering is according to relative vertical position of joints. Where \(\varvec{y}_{\varvec{k}}\), \(\varvec{y}_{\varvec{h}}\), \(\varvec{y}_{\varvec{s}}\), \(\varvec{y}_{\varvec{e}}\) and \(\varvec{y}_{{\varvec{hd}}}\) are vertical position of knee, hip, shoulder, elbow and COM of head respectively. The sign & is stand for “logical AND”