Modeling of an 18 DoF Humanoid Robot Using a Recursive Analytical Method

Humanoid robots have been extensively studied by the scientific community to understand and replicate human motion during specific tasks. In recent years, numerous methods and strategies have been proposed to develop mathematical models that describe humanoid dynamics. Common approaches include analytical methods, geometric modeling, and the DenavitHartenberg convention. In this study, we propose a recursive method based on Eulers analytical mechanics and the use of the properties of the skew-symmetric matrix to address key modeling challenges, such as forward kinematics, differential kinematics, linear velocity, angular velocity, kinetic energy, potential energy, and the EulerLagrange equations of an 18 degrees of freedom (DOF) humanoid robot. A controller based on the hyperbolic tangent function is proposed to implement joint position control. Simulation results are presented using MATLAB/Simulink.