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Module 6: Humanoid Design

Topics Covered​

  • URDF/Xacro design patterns (modularity, reusability).
  • Kinematics overview: forward/inverse, joint chains and task spaces.
  • Dynamics and stability: ZMP, CoM, gait generation concepts.
  • Hands & manipulation: grasp taxonomy, compliance, sensor integration.

Lab & Deliverables (static)​

  • Provide a design checklist for a humanoid limb (links to references in Appendix).
  • Produce a gait analysis plan describing step timing, foot placement, and stability margins.