Analysis and Simulation of Humanoid Gait

The development of mobile robots is related to multidisciplinary areas of mechanics, electronics, computing and biology. Current research have made possible the development of robots that assist in exploration, rescue and rehabilitation, using artificial intelligence techniques, optimization and dynamic analysis of multibody systems. This work aims the synthesis of a humanoid robot and presents the theoretic robot kinematic model allowing define its movement in order to maintain dynamic balance and evaluate the torques applied on their actuators using CAD-CAE simulation. From the 3D computational model and using numerical simulation of multibody systems, it was possible to obtain the dynamic torques in the structure of the robot and the position of its center of mass and legs along the defined path. With this study was evaluated a methodology for multibody simulation mechanisms applied in projects of humanoid robots.