Humanoid biped robots are typically complex in design, having numerous degrees-of-freedom (DOF) due to the ambitious goal of mimicking the human gait. This paper presents the forward kinematics and dynamics of a new sixteen DOF humanoid biped robot. The synthesis of the kinematic chains is based on human body parameters in terms of ratios, range of motion, and physical length. The paper proposes a new architecture for a biped robot with seven DOF per each leg, adding one DOF that imitates the toe joint. The dynamic model is approached by dividing the legs into the sagittal and frontal planes, which simplifies the mathematical model by further applying the principle of Lagrangian dynamics. The paper contains several simulations and numerical examples to prove the analytical results.

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