The mathematics of the relationship between joint angles and actual spatial coordinates is called kinematics.

What joint angles will get it there?

Clocksin and Moore chose joint angles which were most' comfortable'for their robot.

Other considerations are the ability to recruit muscle fibers for a particular activity, joint angles, and the length of each limb.

The alignment ensures constant angular velocity at all joint angles.

As the joint angle moved increasingly away from the neutral axis, the magnitude of the of the moment arms also increased.

A computer model is then used to compute joint angles from the relative marker positions of the labeled trajectories.

Conversely, Klein et al. had found no changes in joint angles when running on an incline versus level surfaces.

At the same time, the muscle would cause a smaller change in joint angle for the same amount of length change.

This prototype had no actuators, but was able to measure its joint angles of the legs with potentiometers.