Robot kinematics

Vishnu Nath, Stephen E. Levinson

Research output: Chapter in Book/Report/Conference proceedingChapter


The robotic platform is the physical hardware on which the experiments have been conducted. All algorithms, by definition, should be replicable on any physical machine, irrespective of the individual hardware components. However, all other things being constant, there is no denying that algorithms perform better on more capable hardware. In this chapter, we provide an introduction to the physical characteristics of the iCub robot platform that was used to perform the experiments and benchmark it using parameters that are relevant to the domain of robotics.

Original languageEnglish (US)
Title of host publicationSpringerBriefs in Computer Science
Number of pages7
StatePublished - 2014

Publication series

NameSpringerBriefs in Computer Science
ISSN (Print)2191-5768
ISSN (Electronic)2191-5776


  • Bipedal Locomotion
  • Coordinate Frame
  • Humanoid Robot
  • Transformation Matrice
  • Transformation Matrix

ASJC Scopus subject areas

  • Computer Science(all)

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