Modeling Humanoid Robots

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Title Modeling Humanoid Robots
Summary Can we model AND simulate robot dynamics using just the Euler-Lagrange equation?
Author Walid Taha
Supervisor Walid Taha, Philippsen
Level Master
Status Open

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Modeling Human Robots
Modeling Human Robots


  • Mechanics
  • Sensing
  • Actuation
  • Model validation
  • Specifics: NAO, Acumen.
  • Supervision: Taha, Philippsen


Cyber-Physical Systems (CPS) is an important research area that is concerned with the way in which many future innovations will involve close coupling of both communicating computational (or cyber) components as well as physical components. Universities around the world are developing courses on CPS, and high-quality case studies and model problems are very important for both the development of these educational programs and for evaluating new CPS tools. At Halmstad, Yingfu Zeng had previously developed a model of a Ping Pong playing robot, which has been used successfully for teaching three editions of the CPS course at Halmstad. The goal of this masters thesis project is to systematically develop the robot from being a simple single-link robot to a humanoid robot. The research question is whether it is feasible to a) express Euler/Lagrange models of robotic systems in mainstream reachability analysis tools (SpaceEx, Flow*, Acumen) in a way that is close to the natural mathematical formalism, and b) whether it is possible to attain convergent enclosures for stable periodic orbits of such robots. The work will start with learning about SpaceEx, Flow*, and Acumen's enclosure semantics. Then, it will move to building a collection of benchmarks expressed mathematically and then expressed in the various languages. The languages will then be compared in terms of expressivity. This involves close interaction with the professor and then (with the professor's approval) communication with the authors of these tools. Then, enclosures from the three systems will be gathered in a way that facilitates comparison. Once this data is collected, an analysis will be conducted in close collaboration with the professors. Preliminary results from this work will be written, the the professor will circulate to other researchers involved with these tools for preliminary external feedback. The thesis document can then be finalized and presented.