8. Conclusion

The humanoid robot is a mobile, polyarticulated mechanical system. Its dynamic behavior is non-linear, and its bodies or joints may exhibit elasticity. However, the modeling algorithms that have been developed for tree-structure manipulator robots are suitable for describing the physical behavior of the humanoid robot. Its main characteristic is to have intermittent unilateral constraints with its environment. It may therefore fall while moving. The generation of its walking or even running movements, and the definition of low-level or high-level commands based on modeling, must take into account this property of contact with the ground and the environment. In this way, the humanoid can become a safe and efficient collaborative robot for humans in industrial environments or personal assistance services.