We researched the humanoid robot as a whole, and using the physical model of the solution space theory we taked the humanoid robot as a plannar 4-DOFs serial robot and plotted the atlases.

• 根据球面三自由度并联球关节的理论，结合人体关节的特征本文采用三自由度并联求关节作为机器人的颈部关节、肩关节、腕关节、腰关节和髋关节，并进行了选型设计，确定了主要参数。