Simulation of a Humanoid Robot

摘要

A 35 degrees-of-freedom humanoid robot is constructed in a modular fashion with repeated seven degrees of freedom serial robot chain with spherical-revolutespherical joints for the trunk, arms and legs.The major benefit of the repeated serial structure is the ease of computations resulting from the similar kinematic parameters for the five serial robot chains.Simulations are done to test the behavior of the humanoid.The humanoid robot arm is simulated using the resolved rate control motion, with a constant velocity input for the hand.The inverse dynamics solution for the resolved rate control motion of the humanoid arm is developed using an iterative Newton-Euler formulation and the required actuator torques are calculated.The humanoid robot is also simulated in the context of resolved rate control, with motion constrained to the left arm.The proposed humanoid robot is kinematically simulated for walking and stair climbing with trajectory planning, from literature, in the form of joint angles for each step of locomotion.