[{"data":1,"prerenderedAt":92},["ShallowReactive",2],{"\u002Fen\u002Fglossary\u002Fdegrees-of-freedom":3},{"id":4,"title":5,"alternateName":6,"body":7,"description":82,"extension":83,"keywords":84,"meta":85,"navigation":86,"path":87,"seo":88,"stem":89,"updated":90,"__hash__":91},"glossary\u002Fglossary\u002Fen\u002Fdegrees-of-freedom.md","Degrees of Freedom (DoF)","自由度",{"type":8,"value":9,"toc":76},"minimark",[10,15,29,34,56,60,68],[11,12,14],"h1",{"id":13},"what-are-degrees-of-freedom","What Are Degrees of Freedom?",[16,17,18,22,23,28],"p",{},[19,20,21],"strong",{},"Degrees of freedom (DoF)"," count the independently controllable motion axes of a robot. Each actively driven rotary or prismatic joint counts as one DoF, typically corresponding to one ",[24,25,27],"a",{"href":26},"\u002Fen\u002Fglossary\u002Fjoint-motor","joint motor",".",[30,31,33],"h2",{"id":32},"dof-determines-capability","DoF Determines Capability",[35,36,37,44,50],"ul",{},[38,39,40,43],"li",{},[19,41,42],{},"6 DoF"," is the minimum for a robot arm to reach \"any position + any orientation\" in 3D space (3 for position + 3 for orientation);",[38,45,46,49],{},[19,47,48],{},"7 DoF"," adds a redundant axis, letting the elbow move while the hand stays fixed — dodging obstacles and optimizing posture, exactly the configuration of the human arm;",[38,51,52,55],{},[19,53,54],{},"Humanoid robots"," need whole-body coordination and typically exceed 30 DoF.",[30,57,59],{"id":58},"example-the-31-dof-of-elf-3","Example: The 31 DoF of Elf 3",[16,61,62,63,67],{},"The BXI ",[24,64,66],{"href":65},"\u002Fen\u002Frobots\u002Fhumanoid-robot","Elf 3 humanoid robot"," has 31 DoF excluding hands: 6 per leg, 7 per arm, 3 in the waist, 2 in the head. The 6-DoF legs cover walking's hip (3), knee (1), and ankle (2); the 7-DoF arms provide human-like manipulation redundancy; the 3-DoF waist expands the reachable workspace.",[16,69,70,71,75],{},"More DoF means more actuators, more control-bus bandwidth (see ",[24,72,74],{"href":73},"\u002Fen\u002Fglossary\u002Fmit-protocol-can","MIT protocol","), and more weight — making DoF layout one of the central trade-offs in humanoid design.",{"title":77,"searchDepth":78,"depth":78,"links":79},"",2,[80,81],{"id":32,"depth":78,"text":33},{"id":58,"depth":78,"text":59},"Degrees of freedom count the independently controllable joint axes of a robot and directly determine its motion capability: a 6-DoF arm reaches arbitrary poses, while humanoid robots typically need 30+ DoF for whole-body coordination.","md","degrees of freedom, DoF, robot DoF, humanoid robot DoF, redundant DoF",{},true,"\u002Fglossary\u002Fen\u002Fdegrees-of-freedom",{"title":5,"description":82},"glossary\u002Fen\u002Fdegrees-of-freedom",null,"SkapjgIm8JHQbbVFUk-AwsALlHdvJjGwWAR3WQh8jaY",1783425867227]