A method of bidirectional dynamic modeling for humanoid robot

To obtain more accurate dynamic model of humanoid robot,this paper proposes a method of bidirectional dynamic modeling for the joints of humanoid robot.By considering of the efficiency of power transmission in two different directions,the humanoid robot was simplified as five-link mechanic structure according to the definition of ground constraint forces and joint torques.By employing the Lagrange equation,a bidirectional dynamic model of the humanoid robot was built.Compareed with the traditional modle,the results of the experiment based on SHR-6S platform and computer simulation demonstrate that this bidirectional dynamic model have a smaller error range.