On the dynamic modeling of an upper-body humanoid robot in the three-dimensional space

The aim of this study is to provide a clear and a systematic approach so that starting from generalized motion equations of all rigid bodies of a humanoid robot one can establish a reduced three dimensional dynamical model. The resulting dynamic model can be expended either for simulation propositions or implemented for any given control law. In addition, transformations and developments, proposed here, can be exploited for modeling of any other three-dimensional humanoid robot with a variable number of rigid bodies and DOFs.