Kinematics and Dynamics of Humanoid Robots

The motion capability of a humanoid robot is the fundamental basis for performing a wide range of complex tasks. This chapter first provides an overview of the fundamental principles underlying kinematic and dynamic analysis of humanoid robots, including the description of rigid-body rotation, rotation representation methods, and homogeneous transformations. It then examines kinematic analysis methods for humanoid robots, covering link frames and transformation matrices, forward kinematics, inverse kinematics, and differential kinematic analysis. Finally, it discusses dynamic analysis methods for humanoid robots, including commonly used approaches such as the Newton–Euler method and the Lagrangian approach.