Dynamic Simulation of a Humanoid Robot with Four DOFs Torso

| In this paper, we present the 3D dynamic simulation of walking gait of biped Robian II virtual manikin (25 kg weight, 1.10 m height). The biped has 16 degrees of freedom (dofs). Initially, a bio-mimetic approach is used to model a humanoid biped having 25 dofs based on common European male (75 kg, 1.78 m). Using, human being motion recording, foot/ground contact model and inverse kinematics, a 3D dynamic simulation of this humanoid is carried out. Scale factorization is used in order to reach Robian II weight and height. A 3D dynamic simulation of the Robian size humanoid gives the e ort wrench exerted by the torso on the lower limbs. An analysis of the six components of this wrench shows the existence of two coupling relations. A study of four dofs mechanisms based on General State Equation (GSE) formalism leads us to an interesting result. Indeed, four dofs are necessary and suÆcient to emulate the dynamic e ects. An RPPP mechanism is presented in order to replace Robian upper part. Results of 3D simulation of the 16 dofs resulting biped are presented. ZMP control algotithm is used to ensure dynamic stability of the biped during walking gait. Keywords| Humanoid robot, Biped robot, Biomimetic approach, Dynamic simulation.