1.

Performance specifications

To The performance specifications

2. Modelling

2.1. Physical and mathematical model

To simplify the system to a state that can be analysed the two components of the humanoid robot leg
are considered as two rods that are attached to each other in such a way that the upper rod (the hip) is
pivoted to a fixed point and to the lower rod (the shin) at its other end. The joint between the rods is
thus the actuated link. The masses of the two rods are assumed to be acting on the centres of the rods
as illustrated on figure 1. Using an x-y reference frame, the y-axis is positive in the vertical direction
against the direction of gravity and the x direction is positive to the right and perpendicular to the y-
direction.

Figure 1.Illustration of the simplified humanoid robot leg system.

Table retw provides the definitions and descriptions of the different parameters presented on the
illustration on figure sdf.
 Table 1. Definitions of the parameters used in the model

Parameter Description

m1 The mass of the hip

m2 The mass of the shin

qn Angular displacement of the hip measured relative to the x- axis

qc The angular displacement of the shin measured relative to the shin

a1 The length of the hip

a2 The length of the shin

θ1 The angular displacement of the hip measured relative to the y-axis

θ2 The angular displacement of the shin measured relative to the hip

g The gravitational acceleration term

Extra parameters, x1, x2, y1 and y2 are introduced at this point which are defined as the displacement in
the x and y-directions of the hip and shin’s centres of mass respectively. The x displacement of the hip
rod is thus given by

𝑎1
𝑥1 = sin 𝜃1 (1)
2

Now the angular displacement θ1 can be expressed in terms of qn as

𝜋
𝜃1 = 𝑞𝑛 − (2)
2

And that of the shin θ2 is equal to qc. The horizontal and vertical displacement of the hip are thus
given by

𝑎1 𝜋
𝑥1 = − sin( − 𝑞𝑛 ) (3)
2 2
𝑎1
𝑥1 = − cos( 𝑞𝑛 ) (4)
2

And
𝑎1 𝜋
𝑦1 = cos(− − 𝑞𝑛 ) (5)
2 2

𝑎1
𝑦1 = sin( 𝑞𝑛 ) (6)
2
Taking derivatives with respect to time, the translational velocities of the hip in the horizontal and
vertical directions are given by equations (7) and (8) respectively,

𝑎1
𝑥̇ 1 = 𝑞̇ sin( 𝑞𝑛 ) (7)
2 𝑛
𝑎1
𝑦̇1 = 𝑞̇ cos( 𝑞𝑛 ) (8)
2 𝑛

The horizontal and vertical displacements of the shin rod is found by adding the components of the
shin’s centre of mass position to those of the hip’s end. The displacement in the x direction of the
shin’s centre of mass will thus be given by

𝑎2
𝑥2 = −𝑎1 cos(𝑞𝑛 ) − cos( 𝑞𝑛 − 𝑞𝑐 ) (9)
2

The velocity is given by

𝑎2
𝑥̇ 2 = 𝑎1 𝑞̇ 𝑛 s 𝑖𝑛(𝑞𝑛 ) + (𝑞̇ − 𝑞̇ 𝑐 )sin( 𝑞𝑛 − 𝑞𝑐 ) (10)
2 𝑛

Equations 11 and 12 give the vertical displacement and accelerations of the shin.

𝑎2
𝑦2 = 𝑎1 sin(𝑞𝑛 ) − s 𝑖𝑛( 𝑞𝑛 − 𝑞𝑐 ) (11)
2
𝑎2
𝑦̇ 2 = 𝑎1 𝑞̇ 𝑛 cos(𝑞𝑛 ) + (𝑞̇ − 𝑞̇ 𝑐 )cos( 𝑞𝑛 − 𝑞𝑐 ) (12)
2 𝑛

The model is performed using the Langrage method to obtain the equations describing the modes of
motion of the components in the system in second order differential form. The method involves the
determination of the total kinetic and potential energies of the components in the system. The equations
governing the modes of motion in the system are thus achieved by the manipulation of the derivatives
of the energy with respect to the input angular displacements, in this case, as well as their derivatives.
The function is given in the form,

𝑑 𝜕ℒ 𝜕ℒ
𝑓𝑞𝑛 ,𝑞𝑐 = [ ]− (13)
𝑑𝑡 𝜕𝑞̇ 𝑛,𝑐 𝜕𝑞𝑛,𝑐

The first step therefore involves the determination of the energies in the system. The total kinetic energy,
KE, in the system is given by equation 14.

1 1 1 1
𝐾𝐸 = 𝑚1 𝑥̇ 1 2 + 𝑚1 𝑦̇1 2 + 𝑚2 𝑥̇ 2 2 + 𝑚2 𝑦̇1 2 (14)
2 2 2 2

Factorising gives,
 1 1
𝐾𝐸 = 𝑚1 (𝑥̇ 1 2 + 𝑦̇1 2 ) + 𝑚2 (𝑥̇ 2 2 + 𝑦̇1 2 ) (15)
2 2

Substituting equations (7), (8), (10) and (12) into equation (15) yields equation (16) which gives the
kinetic energy of the system in its terms of the input variables qn and qc and their variables.

1 1 1 1 1
𝐾𝐸 = ( 𝑚1 𝑎1 2 + 𝑚2 𝑎1 2 + 𝑚2 𝑎2 2 ) 𝑞̇ 𝑛 2 + 𝑚2 𝑎2 2 𝑞̇ 𝑐 2 + 𝑚2 𝑎1 𝑎2 𝑞̇ 𝑛 2 cos(𝑞𝑐 )
8 2 8 8 2
1 1
− 𝑚2 𝑎1 𝑎2 𝑞̇ 𝑐 2 cos(𝑞𝑐 ) − 𝑚2 𝑎2 2 𝑞̇ 𝑛 𝑞̇ 𝑐 (16)
2 4

The potential energy, PE, in the system is given by

𝑃𝐸 = 𝑚1 𝑦1 𝑔 + 𝑚2 𝑦2 𝑔 (17)

Substituting equations 6 and 11 into 16 yields,

1 1
𝑃𝐸 = − (𝑚1 + 𝑚2 )𝑎1 𝑔𝑠𝑖𝑛(𝑞𝑛 ) − 𝑚2 𝑎2 𝑔𝑎1 𝑠𝑖𝑛(𝑞𝑛 − 𝑞𝑐 ) (18)
2 2

The equation can be simplified to the form

𝑃𝐸 = −𝐴𝑠𝑖𝑛(𝑞𝑛 ) − 𝐵𝑠𝑖𝑛(𝑞𝑛 − 𝑞𝑐 ) (19)

And equation 15 can be simplified to the form,

𝐾𝐸 = 𝐶𝑞̇ 𝑛 2 + 𝐷𝑞̇ 𝑐 2 + 𝐸𝑞̇ 𝑛 2 cos(𝑞𝑐 ) − 𝐹𝑞̇ 𝑐 2 cos(𝑞𝑐 ) − 𝑊𝑞̇ 𝑛 𝑞̇ 𝑐 (20)

Where,

1
𝐴= (𝑚 + 𝑚2 )𝑔𝑎1 (21)
2 1

1
𝐵 = 𝑚2 𝑎2 𝑔𝑎1 (22)
2

1 1 1
𝐶= 𝑚1 𝑎1 2 + 𝑚2 𝑎1 2 + 𝑚2 𝑎2 2 (23)
8 2 8

1
𝐷= 𝑚 𝑎 2 (24)
8 2 2

1
𝐸=𝐹= 𝑚 𝑎 𝑎 (25)
2 2 1 2

1
𝑊= 𝑚 𝑎 2 (26)
4 2 2

Now using the Lagrange dynamics, the energy in the system is expressed in the form
ℒ = 𝐾𝐸 − 𝑃𝐸 (27)
 ℒ = 𝐶𝑞̇ 𝑛 2 + 𝐷𝑞̇ 𝑐 2 + 𝐸𝑞̇ 𝑛 2 cos(𝑞𝑐 ) − 𝐹𝑞̇ 𝑐 2 cos(𝑞𝑐 ) − 𝑊𝑞̇ 𝑛 𝑞̇ 𝑐 + 𝐴𝑠𝑖𝑛(𝑞𝑛 )
+ 𝐵𝑠𝑖𝑛(𝑞𝑛 − 𝑞𝑐 ) (28)
For the first angular displacement, qn, taking derivatives with respect to the input and its derivatives
yields the equations dfjkl and ewfkl.

𝜕ℒ
= 𝐴𝑐𝑜𝑠(𝑞𝑛 ) 𝐵𝑐𝑜𝑠(𝑞𝑛 − 𝑞𝑐 ) (29)
𝜕𝑞𝑛

𝜕ℒ
= 2𝐶𝑞̇ 𝑛 + 2𝐸𝑞̇ 𝑛 cos(𝑞𝑐 ) − 𝐹𝑞̇ 𝑐 cos(𝑞𝑐 ) − 𝑊𝑞̇ 𝑐 (30)
𝜕𝑞̇ 𝑛

𝑑 𝜕ℒ
= 2𝐶𝑞̈ 𝑛 + (2𝐸𝑞̈ 𝑛 cos(𝑞𝑐 )) − 2𝐸𝑞̇ 𝑛 𝑞̇ 𝑐 (sin(𝑞𝑐 )) − 𝑊𝑞̈ 𝑐 − 𝐹𝑞̈ 𝑐 cos(𝑞𝑐 )
𝑑𝑡 𝜕𝑞̇ 𝑛
+ 𝐹𝑞̇ 𝑐 2 sin(𝑞𝑐 ) (31)

Thus from equation 13,

𝑓𝑞𝑛 = (2𝐶 + 2𝐸𝑐𝑜𝑠(𝑞𝑐 ))𝑞̈ 𝑛 − (𝑊 + 𝐹(cos(𝑞𝑐 ))𝑞̈ 𝑐 + 𝐹𝑞̇ 𝑐 2 sin(𝑞𝑐 ) − 2𝐸𝑞̇ 𝑛 𝑞̇ 𝑐 sin(𝑞𝑐 ) − 𝐴𝑐𝑜𝑠(𝑞𝑛 )
− 𝐵(cos(𝑞𝑛 − 𝑞𝑐 )