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Modeling and Simulation of a Novel 16-DOF Humanoid Biped Robot

[+] Author Affiliations
C. Hernández-Santos, E. Rodriguez-Leal, R. Soto, J. L. Gordillo

Tecnológico de Monterrey, Campus Monterrey, Monterrey, México

Paper No. DETC2012-70642, pp. 1439-1448; 10 pages
  • ASME 2012 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference
  • Volume 4: 36th Mechanisms and Robotics Conference, Parts A and B
  • Chicago, Illinois, USA, August 12–15, 2012
  • Conference Sponsors: Design Engineering Division, Computers and Information in Engineering Division
  • ISBN: 978-0-7918-4503-5
  • Copyright © 2012 by ASME


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.

Copyright © 2012 by ASME
Topics: Robots , Simulation , Modeling



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