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Modeling of a humanoid robot with 18 DOF in a virtual environment

Modeling of the humanoid robot was and remains to this day an ambiguous model; several studies have been made by several approaches and methods. Some work has considered the joints of the humanoid robot like an arborescent structure, other as closed or open joint chain. Modeling methods are also different: the method of Denavit Hartenberg, the notion of modeling (father-child) uses the equation of Rodrigues and the method of state space [1]. The work presented in this article, is interested in modeling of a humanoid robot with 18 degree of freedom (DOF), three DOF in each arm and six DOF per foot.