This paper presents the overall dynamics analysis for humanoid robots and proposes a method to extend the dynamics equations to check the stability conditions and compute the maximum torques required at each joint. We consider a humanoid robotics system with various base conditions. As the robot walks, the robot will switch between single and double support conditions. The conventional works on dynamical stability of the robots mostly uses simple models with invariant bases. Our proposed method models a robot with various base conditions and describes the dynamics equations of humanoid robots in three dimensional space. Using this method, a straight walking was simulated as a sample gait during which joint torques was achieved and the stability condition was tested.
Skip Nav Destination
ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
September 24–28, 2005
Long Beach, California, USA
Conference Sponsors:
- Design Engineering Division and Computers and Information in Engineering Division
ISBN:
0-7918-4741-1
PROCEEDINGS PAPER
Dynamics Modeling of a Humanoid Robot Available to Purchase
Ali Meghdari,
Ali Meghdari
Sharif University of Technology, Tehran, Iran
Search for other works by this author on:
Saeed Sohrabpour,
Saeed Sohrabpour
Sharif University of Technology, Tehran, Iran
Search for other works by this author on:
Seyed Ali Nezamoddini,
Seyed Ali Nezamoddini
Sharif University of Technology, Tehran, Iran
Search for other works by this author on:
Ehsan Fakhar Izadi,
Ehsan Fakhar Izadi
Sharif University of Technology, Tehran, Iran
Search for other works by this author on:
Seyed Hossein Tamaddoni,
Seyed Hossein Tamaddoni
Sharif University of Technology, Tehran, Iran
Search for other works by this author on:
Ehsan Basafa
Ehsan Basafa
Sharif University of Technology, Tehran, Iran
Search for other works by this author on:
Ali Meghdari
Sharif University of Technology, Tehran, Iran
Saeed Sohrabpour
Sharif University of Technology, Tehran, Iran
Seyed Ali Nezamoddini
Sharif University of Technology, Tehran, Iran
Ehsan Fakhar Izadi
Sharif University of Technology, Tehran, Iran
Seyed Hossein Tamaddoni
Sharif University of Technology, Tehran, Iran
Ehsan Basafa
Sharif University of Technology, Tehran, Iran
Paper No:
DETC2005-84446, pp. 153-158; 6 pages
Published Online:
June 11, 2008
Citation
Meghdari, A, Sohrabpour, S, Nezamoddini, SA, Fakhar Izadi, E, Tamaddoni, SH, & Basafa, E. "Dynamics Modeling of a Humanoid Robot." Proceedings of the ASME 2005 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference. Volume 4a: ASME/IEEE Conference on Mechatronic and Embedded Systems and Applications. Long Beach, California, USA. September 24–28, 2005. pp. 153-158. ASME. https://doi.org/10.1115/DETC2005-84446
Download citation file:
16
Views
Related Proceedings Papers
Related Articles
Tail-Enabled Spiraling Maneuver for Gliding Robotic Fish
J. Dyn. Sys., Meas., Control (July,2014)
New 3-DOFs Hybrid Mechanism for Ankle and Wrist of Humanoid Robot: Modeling, Simulation, and Experiments
J. Mech. Des (February,2011)
Whole-Body Operational Space Control for Locomotion and Manipulation
Mechanical Engineering (June,2015)
Related Chapters
Gesture Based Computing via Gesture Humanoid
International Conference on Computer and Automation Engineering, 4th (ICCAE 2012)
Time-Varying Coefficient Aided MM Scheme
Robot Manipulator Redundancy Resolution
Smart Control for Collective Agents by Adaptive Strategic Mechanism
Intelligent Engineering Systems through Artificial Neural Networks Volume 18