الفهرس 
IntroductionOnly 14 pages are availabe for public view
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Abstract
Humanoid robots will have many applications in the industrial sector in
near future. Based on this motivation, the thesis presents a complete study
on humanoid robot kinematics and dynamics. The thesis also discusses
some basic methods for walking pattern generation and elaborates on some
modifications to enhance the basic walking pattern generation methods in
terms of stability and power consumption optimization. The thesis then
proceeds to introduce some stabilization techniques using ZMP feedback
and upper body posture correction. The suggested algorithms were
validated using MATLAB [104] simulations for NAO robot. The presented
methods produced satisfactory results in terms of stability, as the RMSE
for ZMP x-coordinates (x-axis being parallel to walking direction),
ZMP y-coordinates, upper body roll angle deviation and upper body
pitch angle deviation were found to be 0.0028 m, 0.0139 m, 0.0028
rad and 0.0014 rad respectively. Also, the presented work contributed
significantly to humanoid walking power consumption optimization as the
average locomotion cost of transport was reduced from 0.2367 to 0.11993.