| Abstract: | This paper presents a new approach to analyzing dynamic models of humanoid robots. This new approach is divided into an unconstrained system that applies the principle of Lagrangian dynamics and a constrained system that applies Gauss’ principle. Constrained motion is important in the design and analysis of humanoid robots. In this paper, the central issue in the determination of the constrained system is considered to be the determination of this constraint factor. Using the fundamental equation described by the proposed approach, the constraint equation can easily be generated. Based upon the fundamental equation, the dynamic model of the humanoid robot is explained as divided by the sagittal and frontal planes. The suggested approach simplifies designing dynamic models of humanoid robots which will obey the constrained system whether or not they are constrained, holonomic, or open chain. |
