Kinematic analysis and solution of the natural posture of a 7DOF humanoid manipulator

Biped walking control and motion planning of humanoid robots have been researched for a long time and have made great progress. In order to serve people, the humanoid´s arm should appear natural, have large working space and be easy to avoid obstacles In this paper a 7DOF manipulator with the same joint configuration as human´s arm and its planning algorithm is proposed. The arm imitates the posture of human´s arm to give the optimal solution in the joint space to make our manipulator look natural. The redundancy is solved and the manipulator´s natural posture is derived conveniently and easily. Experiments show the feasibility of the method.