Three-dimensional modelling of a humanoid in three planes and a motion scheme of biped turning in standing

The rigorous three-dimensional model of a humanoid is essential for biped walking, turning, carrying and the like. This study presents a new three-dimensional model of a humanoid by adding two joints in the transverse plane for enabling the motion of turning. Using this model, the authors propose a motion scheme for turning the forward direction of a humanoid in standing. In the present work, every component motion carried out per plane is separately illustrated with figures and explanations. Then, a right-hand turning of a humanoid in standing is simulated and implemented with a small humanoid robot for validation. The present work will serve as a foundation for joint trajectory generation about complex three-dimensional motions of a humanoid robot.