Author : Xh. Bajrami , A. Shala , R. Likaj and A. Dermaku

This paper is focused on modeling improvement and ZMP (Zero Moment Point) trajectory generation of the Archie humanoid robot. It seems more difficult to analyze the dynamic character of walking robot because of the complexity of mathematical description. So most humanoid robots are based on the model of control, and this method needs to model the robot itself and the surrounding environment. In this paper, is used SimMechanics of MATLAB toolbox to build the computer model of the humanoid robot and perform overall robot movement simulation.

Keywords: Kinematics, dynamics, humanoid, archie, simulink, SimMechanics.

Article published in International Journal of Current  Engineering  and Technology, Vol.3,No.3 (Aug- 2013)