휴머노이드 로봇의 기구 동역학 해석 및 설계

In this research, an analysis and design method of a humanoid robot using multi-body kinematics and dynamics is presented. The proposed study is to develop a customized simulator to evaluate the prototype design in the early design stage. The simulator is not only to help humanoid developers to determine design parameters, such as dimensions, mass and inertia properties and actuator specifications, but also to analyze kinematics and dynamics characteristics for variable motions of the humanoid robot. Moreover, the simulator can demonstrate a walking pattern before building a prototype of a humanoid robot. Simulations of the humanoid robot using the customized simulator are performed to demonstrate the effectiveness and validity of the proposed research.