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# mdl_nao

Create model of Aldebaran NAO humanoid robot

MDL_NAO is a script that creates several workspace variables

leftarm | left-arm kinematics (4DOF)
rightarm | right-arm kinematics (4DOF)
leftleg | left-leg kinematics (6DOF)
rightleg | right-leg kinematics (6DOF)

which are each SerialLink objects that describe the kinematic characteristics of the arms and legs of the NAO humanoid.

## Reference

- "Forward and Inverse Kinematics for the NAO Humanoid Robot", Nikolaos Kofinas, Thesis, Technical University of Crete July 2012.
- "Mechatronic design of NAO humanoid" David Gouaillier etal. IROS 2009, pp. 769-774.

## Notes

- SI units of metres are used.
- The base transform of arms and legs are constant with respect to the torso frame, which is assumed to be the constant value when the robot is upright. Clearly if the robot is walking these base transforms will be dynamic.
- The first reference uses Modified DH notation, but doesn't explicitly mention this, and the parameter tables have the wrong column headings for Modified DH parameters.
- TODO; add joint limits
- TODO; add dynamic parameters

## See also

SerialLink, Revolute

© 1990-2014 Peter Corke.