SUMMARYIn the current research, kinematic analysis of a humanoid NAO is attempted. Here, both Denavit–Hartenberg (DH) parameter approach and multibody formulation approach have been analyzed. In the DH parameter approach, the NAO robot is solved by separating it into five individual kinematic chains. In the multibody formulation approach, NAO is divided into 15 segments, and each segment is analyzed. Kinematic analysis holds a significant importance; as from the data obtained in the kinematic analysis, the robots can be designed for real-time path planning and navigation. The current analysis is a novel approach to analyze the NAO based on its kinematic constraints.

中文翻译：

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人形NAO：运动学遭遇

摘要在当前的研究中，尝试对人形 NAO 进行运动学分析。在这里，Denavit-Hartenberg (DH) 参数方法和多体公式方法都得到了分析。在 DH 参数方法中，NAO 机器人通过将其分成五个单独的运动链来求解。在多体公式化方法中，NAO 被分为 15 个段，每个段都进行分析。运动学分析具有重要意义；从运动学分析中获得的数据，可以设计机器人进行实时路径规划和导航。目前的分析是一种基于运动学约束分析 NAO 的新方法。