Dynamics modeling and simulation of a kind of wheeled humanoid robot based on screw theory

Jingguo Wang, Yangmin Li

Research output: Journal article publicationJournal articleAcademic researchpeer-review

7 Citations (Scopus)


Based on the screw theory and Lie group notations, this paper presents a modeling method for a kind of wheeled humanoid robot whose upper human-like body is mounted on the top of a mobile platform with three wheels. By combining the reciprocal product of the twist and wrench with Jourdain variation principle, a general formulation method is proposed to model the whole system's dynamics that represents directly the relationship between the input and the resultant external and inertial wrench. Both the system kinematics and dynamics are derived carefully. The simulations are made to verify the proposed modeling methodology and the simulation results are also compared with the results obtained from the multi-body dynamics software.
Original languageEnglish
Article number1250029
JournalInternational Journal of Humanoid Robotics
Issue number4
Publication statusPublished - 1 Dec 2012
Externally publishedYes


  • Dynamics modeling
  • nonholonomic constraints
  • screw theory
  • twist and wrench
  • wheeled humanoid robot

ASJC Scopus subject areas

  • Artificial Intelligence
  • Mechanical Engineering


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