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In this paper, the dynamic modeling of a seven linked humanoid robot, isaccurately developed, in the three dimensional space using the Newton-Eulerformalism. The aim of this study is to provide a clear and a systematicapproach so that starting from generalized motion equations of all rigid bodiesof the humanoid robot one can establish a reduced dynamical model. Theresulting model can be expended either for simulation propositions orimplemented for any given control law. In addition, transformations anddevelopments, proposed here, can be exploited for modeling any otherthree-dimensional humanoid robot with a different morphology and variablenumber of rigid bodies and degrees of freedom.

A Relevant Reduction Method for Dynamic Modeling of a Seven-linked Humanoid Robot in the Three-dimensional Space