Forward Kinematic Modeling and Verification of the Unitree G1 Left Arm Based on the Denavit-Hartenberg Method
Year: 2026
Type: conference-paper
Abstract: To achieve accurate motion analysis of the Unitree G1 humanoid robot during a prescribed arm movement, this paper establishes and verifies a forward kinematic model of the left arm based on the standard Denavit-Hartenberg (D-H) parameter method. First, coordinate frames are assigned at the shoulder joint, elbow joint, and end-effector, and the mapping relationship between the actual joint angles and the D-H modeling variables is established through joint zero-offset correction. Then, the homogeneous transformation matrices of individual links and the overall transformation matrix of the end-effector are derived. On this basis, the spatial position of the end-effector under the target motion is calculated. To verify the correctness of the proposed model, geometric analysis and MATLAB-based simulation are employed for cross-validation. The results show that the theoretical derivation, geometric solution, and simulation output are fully consistent, and the end-effector position under the target motion is obtained as (219.54, 126.75, 146.36) mm. The proposed model provides a theoretical basis for subsequent studies on trajectory planning, motion control, and inverse kinematics of the Unitree G1 left arm.
Authors: Mingfei He, Qiuping Zhong, Jinghan Xu, Xinyuan Pan
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: hybrid
OpenAlex ID: W7204797993