Automatic Generation of Humanoid’s Geometric Model Parameters

  • Vincent Hugel
  • Nicolas Jouandeau
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8371)


This paper describes a procedure that automatically generates parameters for the geometric modeling of kinematic chains. The convention of modeling used is the Denavit Hartenberg convention modified by Khalil Kleinfinger, noted DHKK. The procedure proposed here has two advantages. First the user does not need to calculate the geometric parameters by himself. He simply has to give the directions of the successive joint axes, and for each joint axis, a point that belongs to the axis. The second advantage deals with the use of model-generic matrices for the beginning and the end of the kinematic chains, and not only for the joint axes. This prevents the user from doing specific calculation to connect the joint matrices derived from the model with the initial and the final coordinate frames of the chain. Due to its unified formalism, the procedure allows to save time when the kinematics of the robot has to be changed. This paper includes the application of this procedure to the geometric modeling of legs and arms of two versions of the NAO humanoid robot, the one used in the RoboCup 3D Simulation League, and the other one used in the RoboCup Standard Platform League.


Coordinate Frame Kinematic Chain Zero Moment Point Standard Platform League Ankle Pitch 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


  1. 1.
    Graf, C., Hartl, A., Röfer, T., Laue, T.: A Robust Closed-Loop Gait for the Standard Platform League Humanoid. In: Proc. 4th Workshop on Humanoid Soccer Robots, pp. 30–37 (2009)Google Scholar
  2. 2.
    Zorjan, M., Hugel, V., Blazevic, P.: Influence of hip joint axes change of orientation on power distribution in humanoid motion. In: Proc. IEEE ICARA: The 5th Int. Conf. on Automation, Robots and Applications, pp. 271–276 (2011)Google Scholar
  3. 3.
    Zorjan, M., Hugel, V.: Generalized Humanoid Leg Inverse Kinematics to Deal With Singularities. In: Proc. IEEE Int. Conf. on Robotics and Automation (2013)Google Scholar
  4. 4.
    Khalil, W., Kleinfinger, J.-F.: A new geometric notation for open and closed-loop robots. In: Proc. IEEE Int. Conf. on Robotics and Automation, pp. 1174–1180 (1986)Google Scholar
  5. 5.
    Denavit, J., Hartenberg, R.S.: A kinematic notation for lower-pair mechanisms based on matrices. Trans. ASME J. Appl. Mech. 23, 215–221 (1955)MathSciNetGoogle Scholar
  6. 6.
    Gouaillier, D., Hugel, V., Blazevic, P., Kilner, C., Monceaux, J., Lafourcade, P., Marnier, B., Serre, J., Maisonnier, B.: Mechatronic design of NAO humanoid. In: Proc. IEEE Int. Conf. on Robotics and Automation, pp. 769–774 (2009)Google Scholar
  7. 7.
    Obst, O., Rollmann, M.: Spark - A Generic Simulator for Physical Multi-Agent Simulations. In: Lindemann, G., Denzinger, J., Timm, I.J., Unland, R. (eds.) MATES 2004. LNCS (LNAI), vol. 3187, pp. 243–257. Springer, Heidelberg (2004)CrossRefGoogle Scholar
  8. 8.
    SimSpark, a generic physical multiagent simulator system for agents in three-dimensional environments,
  9. 9.
    Hugel, V., Jouandeau, N.: Walking patterns for real time path planning simulation of humanoids. In: Proc. IEEE Int. Symp. on Robot and Human Interactive Comm (RO-MAN), pp. 424–430 (2012)Google Scholar
  10. 10.
    Stoecker, J., Visser, U.: RoboViz: Programmable Visualization for Simulated Soccer. In: Röfer, T., Mayer, N.M., Savage, J., Saranlı, U. (eds.) RoboCup 2011. LNCS, vol. 7416, pp. 282–293. Springer, Heidelberg (2012)Google Scholar

Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Vincent Hugel
    • 1
  • Nicolas Jouandeau
    • 1
  1. 1.LISVUniversity of Versailles and LIASD, University of Paris 8France

Personalised recommendations