Master Thesis (2007)
Title: Humanoid robot: Development of a simulation environment of an entertainment humanoid robot

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.




Lab Coordinator

Jorge Martins


Faculty Advisors / Founders

Miguel Ayala Botto

Carlos Cardeira

Jorge Martins



Jorge Graça

Ricardo Marinheiro


PhD Students

Fernando Carreira


MsC Students

Tiago Rato

Miguel Marinheiro


External Collaborators

Limor Schweitzer


Past Collaborators

Pedro Teodoro (website designer and maintenance responsible)

Mario Marques

Josefina Fernandes

Magnus Anderson

Viktor Ronnert

Bruno Silva

Marco Pinto



























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