Kinematic and Static Structural Analysis of a Humanoid with a Wheeled Mobile Base

  • Manoj Kumar Mallick
  • A. P. SudheerEmail author
Conference paper
Part of the Lecture Notes in Mechanical Engineering book series (LNME)


Humanoid robots are facing issues such as self-collision, low speed, instability, and complex control system, when putting to work in different working environments. Humanoid robots with legs are generally not dynamically stable during high-speed motions. One of the solutions for avoiding this challenging issue is to replace the legs with wheelbase. This paper mainly deals with the development of a humanoid having a wheeled mobile base for indoor and outdoor applications. The upper body of the humanoid robot is designed with 3-DOF in the torso, 2-DOF in the neck, dual arm with 5-DOF in each arm, and mobile base with four wheels and 3-DOF. Forward and inverse kinematic modeling is done for the torso and arms. Workspace analysis is performed and the maximum work volume is 2.678 m3. Static structural analysis is carried out for dimension synthesis.


Humanoid robot Wheeled mobile base Kinematic modeling Workspace analysis Static structural analysis 


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© Springer Nature Singapore Pte Ltd. 2020

Authors and Affiliations

  1. 1.Department of Mechanical EngineeringNational Institute of Technology CalicutKozhikodeIndia

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