Design and Dynamic Modeling of Humanoid Biped Robot e-Robot

摘要

This paper describes the method of the dynamic simulation of the humanoid biped robot e-Robot using SimMechanics of MATLAB toolbox and Solid Works. When we built a humanoid biped robot, we need to make the design of each component, i.e., obtain the necessary torque in each motor, visualize the comportment of humanoid robot, and obtain the mathematical model of each part. To get these parameters are the hardest task, by these reasons we can use SimMechanics to obtain more easily these parameters, where the mechanical systems are represented by connected block diagrams. So, each block represents physical components with geometric and kinematic relationships. This is not only more intuitive, but it also saves time and effort to derive differential equations of motion. The paper also describes the humanoid biped robot e-Robot to show how a dynamic model created from Solid Works assembly can be exported to SimMechanics and make its dynamic simulation of waist and left leg.