  In this paper, the dynamic modeling of a seven linked humanoid robot, is
accurately developed, in the three dimensional space using the Newton-Euler
formalism. The aim of this study is to provide a clear and a systematic
approach so that starting from generalized motion equations of all rigid bodies
of the humanoid robot one can establish a reduced dynamical model. The
resulting model can be expended either for simulation propositions or
implemented for any given control law. In addition, transformations and
developments, proposed here, can be exploited for modeling any other
three-dimensional humanoid robot with a different morphology and variable
number of rigid bodies and degrees of freedom.
