Again, our analyses show that inline shoulders would resulted in a larger working volume, and in order to prevent kinematic singularities they are angled at 20 forward. Hence, Herbert's shoulders are not inline on the sagittal plane. Figure 2. The human proportion of Herbert: all the major joints are in their anthropometrically correct position, we used a 1 percentile full size human man.
One of the most important physical properties of a humanoid are its weight and mass distribution, where it is desirable that the CoM of each limb is as close to the axis of motion.
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