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Modeling, Dynamics and Kinematics Control of a Humanoid Robot


Ari Artinian, S. Levanti

Semester Group Project, HS11/FS12 (10217)

Robotics is a fascinating and fast evolving field of study. It fuses mechanical, electrical, control and informatics engineering in one extremely interesting discipline, yielding numerous applications that can be found in various areas like industry, medicine, space exploration and in hazardous environments for human beings. Human robotics is an appealing aspect of this branch of engineering and we did not want to miss the opportunity to delve into it. The multidisciplinarity of robotics was one of the main reasons for us to embark on this adventure and try to contribute as much as we could to the RoboCup Project. In general, team-projects offered to students in the third bachelor year have a defined goal to be met and the general outline of achieving it is already given. There is not much space for self-initiative. This was not the case for the RoboCup project, since it was brand-new. There was just one main goal: create a robot football team. This meant that we were free to choose our own path. In the upcoming three sections we will discuss the work we did for this project. We will start describing our experience with the Aldebaran tools and then continue with mechanical theory on robots, and furthermore its application to NAO’s leg. After this, an explaination of the major work, i.e SiBiBot Simulation, will follow. The report ends with a brief conclusion and some final thoughts.


Type of Publication:

(16)Semester Group Work

T.H. Summers

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