Published By: Blue Eyes Intelligence Engineering

Abstract — This paper aims to develop a simple mathematical modeling of biped series of humanoid robots. Since the introduction of Wabot from Waseda University in 1973, many humanoid robots have been developed around the world that can walk with stability. Various biped robots have successfully shown their capabilities, bipedal walking methods are still one of the main technical challenges that robotics researchers are trying to solve. For modeling of biped robot or any multi body system different methods are used like Newton-Euler, Lagrange-Euler. By implementing use of Denavit Hartenberg convention for modeling kinematics for biped robots, we give an algorithm for derivation of Lagrange-Euler equations of motions for a general biped robots. We have considered a biped robot with three links having four degrees of freedom. Index Terms — Humanoid, biped, D-H algorith