TABLE 1.

DH Table of the joint leg structure.

Joint	Hip-y (mm)	Hip-x	Hip-z (mm)	Knee
αi	π/2	−π/2	−π/2	0
a i	20	0	25	172 mm
d i	35	0	145	0
θ 0,j	π/2	−π/2	−π/2	−π/2
θ i	θ 0,1 + θ 1	θ 0,1 + θ 2	θ 0,1 + θ 3	θ 0,1 + θ 4