... 18 0° Neck lj8lj9lj 10 lj 11 -1 80° to 18 0° -4 5° to 45° -4 5° to 45° -6 0° to 60° Range of motion Torso lj 12 lj 13 lj 14 -1 80° to 18 0° -1 0° to 60° -2 0° to 20° Table 1. Degrees of freedom ... Torso22343222 1 144643Degree of freedomUpper body 21 Wrist lj 1 lj2 -3 0° to 30° -6 0° to 60° Elbow lj3lj4 -9 0° to 90° -1 0° to 15 0° Shoulder lj5lj6lj7 -1 80° to 18 0° -4 5° to 18 0° -1 0° to 18 0° ... the humanoid robot ARMAR III. 22 Humanoid Robots, New Developments )(,ˆ,ˆˆˆL2L1LA2A1ATTII 1 21 21 1 1 =++==++=+=+=iggǚǗiggǚǗgǚǗgǚǗiiiiiiwhere I1g,T1g,igA1,...