[robotics-worldwide] [software] Team Kouretes: Release of NAOKinematics Library

Michail G. Lagoudakis lagoudakis at intelligence.tuc.gr
Mon Nov 18 03:51:17 PST 2013

RoboCup SPL Team Kouretes is pleased to announce the public release of our stand-alone, complete NAO 
kinematics software library, which is made available from our Github repository:


The C++ NAOKinematics library covers Aldebaran Robotics NAO versions H21 and H25, offers the 
following functions

- forward kinematics
- inverse kinematics (analytical, closed-form solution)
- center-of-mass calculation

and can be integrated into any existing C++ software architecture.

Details about the Kouretes NAOKinematics library can be found in the following two documents:

Kofinas N., Orfanoudakis E., Lagoudakis M.: Complete Analytical Inverse Kinematics for NAO, 
Proceedings of the 13th International Conference on Autonomous Robot Systems and Competitions 
(ROBOTICA), Lisbon, Portugal, April 2013, pp. 1-6.

Kofinas N.: Forward and Inverse Kinematics for the NAO Humanoid Robot, Diploma Thesis, Department of 
Electronic and Computer Engineering, Technical University of Crete, July 2012.

For questions and/or further information, please contact Nikolaos Kofinas at nikofinas at gmail.com .

SPL Team Kouretes
School of ECE
Tech Univ of Crete
Chania, Crete, GREECE

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