Design and inverse dynamic analysis of a humanoid robot

In this paper we first present the mechanism system configuration, basic control structure of a humanoid robot constructed by our laboratory The human-sized robot has an all-orientation wheel mobile vehicle with 3-DOF, two 7-DOF arms, one 2-DOF neck and one 2-DOF waist (totally 21 DOF). As follow, we build the humanoid´s dynamic model based on the Newton-Euler method. Using the model, we simulate and analyse the dynamic characters of the humanoid. The simulation results are presented and the results will be the significant basic for the stability analysis and control of the humanoid in the future works. The humanoid is expected to be a common tested in experimental and discussion for various aspects of intelligent humanoid robotics.