Seyed Hossein Tamaddoni - Graduate Student Sharif University of Technology
Farid Jafari - Graduate Student Sharif University of Technology
Ali Meghdari - Professor Sharif University of Technology
Saeed Sohrabpour - Professor Sharif University of Technology

This paper gives a comprehensive insight into dynamic modeling criteria of biped robots. The biped is modeled as a kinematic chain of five links. The inverse dynamics of the biped is derived by Lagrangian method. The objective is to study the whole biped walking cycle, including single support phase, double support phase and impulse. The results are simulated on the computer model of Sharif CEDRA Humanoid Robot II.

Dynamic Modeling, Biped Robot, Locomotion, Inverse Dynamics