{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,1,5]],"date-time":"2026-01-05T22:20:36Z","timestamp":1767651636163},"reference-count":7,"publisher":"World Scientific Pub Co Pte Lt","issue":"03","content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Int. J. Human. Robot."],"published-print":{"date-parts":[[2012,9]]},"abstract":"<jats:p> This paper focuses on developing a consistent methodology for deriving a closed-form inverse kinematic joint solution of a humanoid robot with decision equations to select a proper solution from multiple solutions. Most researchers resort to iterative methods for inverse kinematics using the Jacobian matrix to avoid the difficulty of finding a closed-form joint solution. Since a closed-form joint solution, if available, has many advantages over iterative methods, we have developed a novel reverse-decoupling method by viewing the kinematic chain of a limb of a humanoid robot in reverse order and then decoupling it into the positioning and orientation mechanisms, and finally utilizing the inverse-transform technique to derive a consistent joint solution for the humanoid robot. The proposed method presents a simple and efficient procedure for finding the joint solution for most of the existing humanoid robots. Extensive computer simulations of the proposed approach on a Hubo KHR-4 humanoid robot show that it can be applied easily to most humanoid robots such as HOAP-2, HRP-2 and ASIMO humanoid robots with slight modifications. <\/jats:p>","DOI":"10.1142\/s0219843612500223","type":"journal-article","created":{"date-parts":[[2012,10,15]],"date-time":"2012-10-15T00:47:53Z","timestamp":1350262073000},"page":"1250022","source":"Crossref","is-referenced-by-count":18,"title":["CLOSED-FORM INVERSE KINEMATIC POSITION SOLUTION FOR HUMANOID ROBOTS"],"prefix":"10.1142","volume":"09","author":[{"given":"HYUNGJU ANDY","family":"PARK","sequence":"first","affiliation":[{"name":"School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN 47907-2035, U.S.A."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"MUHAMMAD AHMAD","family":"ALI","sequence":"additional","affiliation":[{"name":"School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN 47907-2035, U.S.A."}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"C. S. GEORGE","family":"LEE","sequence":"additional","affiliation":[{"name":"School of Electrical and Computer Engineering, Purdue University, West Lafayette, IN 47907-2035, U.S.A."}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"219","published-online":{"date-parts":[[2012,10,19]]},"reference":[{"key":"rf6","doi-asserted-by":"publisher","DOI":"10.1109\/TSMCB.2008.928232"},{"key":"rf7","doi-asserted-by":"publisher","DOI":"10.1109\/MC.1982.1653917"},{"key":"rf8","first-page":"695","volume":"20","author":"Lee C. S. G.","journal-title":"IEEE Trans. Aerosp. Electron. Syst."},{"key":"rf12","doi-asserted-by":"publisher","DOI":"10.1006\/gmod.2000.0528"},{"key":"rf15","first-page":"449","volume":"11","author":"Paul R. P.","journal-title":"IEEE Trans. Syst. Man Cyber."},{"key":"rf17","first-page":"215","volume":"23","author":"Denavit J.","journal-title":"Trans. ASME J. Appl. Mech."},{"key":"rf18","volume-title":"Robotics: Control, Sensing, Vision, and Intelligence","author":"Fu K. S.","year":"1987"}],"container-title":["International Journal of Humanoid Robotics"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.worldscientific.com\/doi\/pdf\/10.1142\/S0219843612500223","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,8,6]],"date-time":"2019-08-06T18:23:43Z","timestamp":1565115823000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.worldscientific.com\/doi\/abs\/10.1142\/S0219843612500223"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2012,9]]},"references-count":7,"journal-issue":{"issue":"03","published-online":{"date-parts":[[2012,10,19]]},"published-print":{"date-parts":[[2012,9]]}},"alternative-id":["10.1142\/S0219843612500223"],"URL":"https:\/\/doi.org\/10.1142\/s0219843612500223","relation":{},"ISSN":["0219-8436","1793-6942"],"issn-type":[{"value":"0219-8436","type":"print"},{"value":"1793-6942","type":"electronic"}],"subject":[],"published":{"date-parts":[[2012,9]]}}}