System identification of a humanoid robot power transmission system

Abstract

This research focuses on modeling and identification of a prevailing type of robot power transmission system. Use of electrical actuators as well as utilizing gearbox and belt and pulley system is a common way to convey the power to the robotic joints. Identification of the powertrain system is an important issue in the robotic systems, and is an appropriate method to obtain the dynamic model of the powertrain system. Consequently, it leads to a more accurate dynamic model for robotic systems, and dynamic behavior of the system can be more predictable.