Abstract: This dissertation was developed in collaboration with Robosavvy Ltd and boosted the creation of the Humanoid Robotics Laboratory of IDMEC-Center of Intelligent Systems, at Instituto Superior Técnico. The developments presented include: i) the software development for interfacing the Matlab Real TimeWorkshop Toolbox with the Bioloid humanoid robot servos; ii) the identification of the internal and external dynamic parameter of the humanoid servos and structure, respectively; iii) the dynamics modeling and simulation of the humanoid robot using the SimMechanics and Virtual Reality Toolbox; iv) the deduction of the equations of motion for an underactuated n-link inverted pendulum. The main objective of the Humanoid Robotics Laboratory, for the time being, is to develop a humanoid robot able to make complex motions like walking, running and jumping through real-time feedback control techniques. This dissertation presents a LQR controller for the simulation and control of the humanoid robot doing the handstand on a high bar, by considering it as an underactuated 3-link inverted pendulum.

Abstract:In this paper we present the current development status at the Humanoids Robotics Lab of the Department of Mechanical Engineering at Instituto Superior Técnico in collaboration with Robosavvy Ltd. The developments we present include the software development for interfacing the Matlab real time workshop toolbox with the humanoid robot controllers, hardware development towards wireless communication between the local robot controller and the remote PC, the identification of the internal and external dynamic parameter of the humanoid servos and structure respectively, the dynamics modeling and simulation using simMechanics and virtual reality toolbox. Our aim is the development of a humanoid robot able to make complex motions like walking, running and jumping.