Abstract
This paper introduces MRL-HSL multibody simulation for the humanoid robot based on Matlab/Simulink and Simscape software, which can be used for designing control systems, enhancing the stability of the robot and etc. purpose. MRL-HSL real-time simulation is a virtual humanoid robot which is the safe way of educational and research purpose without damaging to the robot in the real environment and reducing the cost of implementation. The structure of the robot includes a rigid multibody of the robot, actuators, sensors and it can be developed simply for other types of robots. For the gaiting purpose and other movement control designing aims, the forward kinematics is solved by Denavit Hartenberg (D-H) method and the analytical solution is used for solving the inverse kinematics. The kinematics chain consists of the head, Legs and arms of the humanoid robot. The cad models of each part of the virtual humanoid robot designed by SolidWorks software.
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