q 23








 q24


 q'



II S"f


q 7


Si






q10








qil
q12


q27






 q1"4


L .4


 -,k




 q2





 q3
L---------.


 q16










 i17


 % (superior)
 Sq18
q, .. .


Figure 3-1. The 3D, 14 segment, 27 DOF full-body kinematic model linkage joined by a
 set of gimbal, universal, and pin joints.


Joint Types


 Pin


Universal





Gimbal


 Z
(lateral)


(anterior)