Vizzy Denavit–Hartenberg parameters

Head center	'	'	'	'	'
Link	alpha	R	theta	D
0	Pi/2	0	0	0	virtual link
1	Pi/2	0	0	0	M0 → M1
2	Pi/2	0	0	-370	M1 → M2
3	Pi	132.21	0	0	M2 → M3
Left eye
Link	alpha	R	theta	D
0	Pi/2	0	0	0	virtual link
1	Pi/2	0	0	0	M0 → M1
2	Pi/2	0	0	-370	M1 → M2
3	Pi	132.21	0	0	M2 → M3
4	-Pi/2	0	111	0	M3 → M5
Right eye
Link	alpha	R	theta	D
0	Pi/2	0	0	0	virtual link
1	Pi/2	0	0	0	M0 → M1
2	Pi/2	0	0	-370	M1 → M2
3	Pi	132.21	0	0	M2 → M3
4	-Pi/2	0	-111	0	M3 → M4
Right arm
Link	alpha	R	theta	D
0	Pi/2	0	0	0	virtual link
1	-Pi/2	0	0	-0.0805	M0 → M0R
2	-Pi/2	0	0	0.212	M0R → M1R
3	Pi/2	0	0	0.10256	M1R → M2R
4	-Pi/2	0	0	0	M2R → M3R
5	-Pi/2	0	0	0.16296	M3R → M4R
6	Pi/2	0	0	0	M4R → M5R
7	Pi/2	0	0	0.18925	M5R → M6R
8	Pi/2	0	0	0	M6R → M7R
9	-Pi/2	-0.1	0	0	M7R → End-effector
Left arm
Link	alpha	R	theta	D
0	Pi/2	0	0	0	virtual link
1	Pi/2	0	0	0.0805	M0 → M0L
2	-Pi/2	0	0	-0.212	M0L → M1L
3	Pi/2	0	0	0.10256	M1L → M2L
4	-Pi/2	0	0	0	M2L → M3L
5	-Pi/2	0	0	-0.16296	M3L → M4L
6	Pi/2	0	0	0	M4L → M5L
7	Pi/2	0	0	-0.18925	M5L → M6L
8	Pi/2	0	0	0	M6L → M7L
9	-Pi/2	-0.1	0	0	M7L → End-effector