In this paper we present a derivation of the forward kinematics (FK) and inverse kinematics (IK) of a humanoid
robot with 32 degrees of freedom, speci cally the ODOI platform. The FK and IK are not solved for the entire 32 joints but instead divided into six parts:the two arms(seven joints each), the two legs (seven joints each), the torso (5 joints), and the head (2 joints).
In this paper a mix approach is introduced: a closed-form solution is proposed for the arms and the torso based on
[1] and a geometric solution is proposed for the legs.
[1] Hyungju Andy Park, Muhammad Ahmad Ali, and CS George Lee. Closed-form inverse kinematic position
solution for humanoid robots. International Journal of Humanoid Robotics, 9(03):1250022, 2012.