Dynamic modeling of a human-inspired robot based on a Newton-Euler approach

Abstract

This work deals with the modeling process of a new three dimensional human-like robot for an inverse dynamic analysis. This robot intends to be utilized by caregivers to assist persons with reduced mobility (such as the elderly). The model under analysis is composed by 24 rigid bodies: 3 to represent the robot’s base and locomotion, 4 for the lower limbs and torso, 7 for each arm, and 3 for the head. The resulting multibody system has 19 degrees-of-freedom driven by 4 linear actuators and 15 revolute motors. The proposed approach was implemented using an in-house computational code, and validated against a commercial software for a general spatial motion. The outcomes achieved show that the proposed formulation is computationally effective both in terms of efficiency and accuracy. The general findings of this study are promising and useful for the mechanical design and construction of a real human-like robot prototype.