Dynamic modeling of a mobile humanoid robot

This paper first presents a modeling method for a mobile humanoid robot whose upper human-like body is mounted on a mobile platform supported by three wheels (two driving wheels and one caster wheel). The upper body connects the platform by two-DOF joint and the wheeled platform moves on the ground subject to nonholonomic constraints. Then based on Lie groups and screw theory, the kinematics and dynamics of the nonholonomic mobile humanoid robot are developed by simplifying the model into five parts and the dynamic equations of the entire system are formulated from the aspect of energy.