The mathematical foundation to describe the dynamics of a humanoid mechanism is reviewed. The discussion begins with the kinematics of an anthropomorphic mechanism, followed by the equation of motion of the system and the contact mechanics that accompanies with the motions. Some compact representations of both the robot dynamics and the contact mechanics are summarized. The former is referred to as the centroidal dynamics derived from the total momenta of the system, while the latter includes the contact wrench sum and the zero-moment point. They are naturally joined as a reduced-order dynamics model derived from an approximate relationship between the center of mass and the zero-moment point. Finally, some techniques to synthesize the intended motion into the joint actuation torques under limitations of contact forces are shown. This is basically a translation of a Japanese version with some modifications and reorganizations. GRAPHICAL ABSTRACT

中文翻译：

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调查：仿人机器人动力学

回顾了描述人形机制动力学的数学基础。讨论从拟人机构的运动学开始，然后是系统的运动方程和伴随运动的接触力学。总结了机器人动力学和接触力学的一些紧凑表示。前者被称为从系统总动量导出的质心动力学，而后者包括接触扳手和和零力矩点。它们自然地结合为一个降阶动力学模型，该模型源自质心和零力矩点之间的近似关系。最后，展示了一些在接触力限制下将预期运动合成为关节致动扭矩的技术。这基本上是日语版本的翻译，并进行了一些修改和重组。图形概要