Lee, Sangyong Cho, Changhyun Choi, Mun Taek Kim, Munsang Kim, Jongwon 2024-01-20T20:01:31Z 2024-01-20T20:01:31Z 2021-09-02 2010-02 2234-7593 https://pubs.kist.re.kr/handle/201004/131756 This paper presents a now approach to analyzing dynamic models of humanoid robots. This new approach is divided into an unconstrained system that applies the principle of Lagrangian dynamics and a constrained system that applies Gauss' principle. Constrained motion is important in the design and analysis of humanoid robots. In this paper, the central issue in the determination of the constrained system is considered to be the determination Of this constraint factor. Using the fundamental equation described by the proposed approach, the constraint equation can easily be generated. Based upon the fundamental equation, the dynamic model of the humanoid robot is explained as divided by the sagittal and frontal planes. The suggested approach simplifies designing dynamic models of humanoid robots which will obey the constrained system whether or not they are constrained, holonomic, or open chain. English KOREAN SOC PRECISION ENG PERSPECTIVE A Dynamic Model of Humanoid Robots using the Analytical Method Article 10.1007/s12541-010-0008-1 1 INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING, v.11, no.1, pp.67 - 75 INTERNATIONAL JOURNAL OF PRECISION ENGINEERING AND MANUFACTURING 11 1 67 75 scopus kci ART001416329 000274106000008 2-s2.0-77952932849 Engineering, Manufacturing Engineering, Mechanical Engineering Article PERSPECTIVE Humanoid robot Constrained system Gauss&apos s principle