Classification of lying states for the humanoid robot SJTU-HR1

The humanoid robot SJTU-HR1's concept is introduced and its characteristics tree is given. The basic states for SJTU-HR1 are proposed, including lying, sitting, standing and handstanding, abstracted from the daily exercises of human beings. The G (F) (generalized function) set theory is exploited to achieve the kinematic characteristics of the interested EEs (end-effectors) of SJTU-HR1 for the lying states. Finally, the results show that the large amounts of states can be described using the abbreviations in a systematic manner. Although we have focused on the application of the G (F) set theory to humanoid robots, particularly the SJTU-HR1, this methodology can also be applied to quadruped robots and hexapedal robots, especially when the desired tasks are complex.