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.

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