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May 9, 2026International Journal of Humanoid Robotics

Dynamic Modeling and Prototype design for Underactuated Takeoff of a Humanoid Robot

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Authors

YXYong XuSGShuyan Guo

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Overview

Randomized trial evaluates dynamic control and prototype for underactuated takeoff in humanoid robots, suggesting design effectiveness.

Key Points

  • This research aims to address the dynamic jumping control of humanoid bipedal robots and develop a prototype for underactuated takeoff processes.
  • Proposed a parametric mechanism design and kinematic/dynamic model for humanoid robots.
  • Utilized D'Alembert principle for establishing kinematic model and defining critical motion conditions.
  • Conducted motion simulations and prototype experiments to validate the proposed models and algorithms.
  • Established dynamic analytical model using Lagrange equation with verified trajectory planning techniques.
  • Demonstrated successful underactuated takeoff through motion simulation results confirming critical conditions.
  • Validated effectiveness of mechanism design and control strategies via prototype experiments.

Cite This Study

Xu et al. (2026) studied this question.

synapsesocial.com/papers/69fed03cb9154b0b82877382https://doi.org/10.1142/s0219843626500088
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