International Journal For Multidisciplinary Research

E-ISSN: 2582-2160   •   Impact Factor: 9.24

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Volume 8 Issue 1
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Integrated Design, Dynamic Modelling, and Structural Validation of a 14-DOF Lightweight Humanoid Robot

Author(s) Mr. NARAYANA REDDY MARTHALA, Prof. INDIRA RANI MARPU
Country India
Abstract This paper presents a unified design-to-validation framework for a compact
14-degree-of-freedom (DOF) humanoid robot developed using additive manufacturing.
The methodology integrates mechanical design, finite element structural
verification, kinematic and dynamic modelling, trajectory generation, and
simulation-based validation into a single coherent workflow. A complete CAD
model is used to extract accurate geometric and inertial parameters, ensuring
physically consistent modelling from the initial design stage.

The structural integrity of the 3D-printed PLA components is evaluated under a
conservative 1 kN load using finite element analysis (FEA). Forward kinematics
are formulated using the Denavit-Hartenberg convention, and joint torque
requirements are derived using Euler-Lagrange dynamic modelling. Smooth joint
trajectories are generated using cubic polynomial interpolation, and gait
stability is assessed using the Zero Moment Point (ZMP) criterion.

Simulation results obtained from MATLAB and CoppeliaSim demonstrate accurate
tracking of joint displacement, velocity, and torque profiles across all 14 DOF,
confirming actuator feasibility and stable coordinated motion. The proposed
framework ensures that structural feasibility, dynamic performance, and motion
stability are verified prior to physical implementation.
Keywords Humanoid Robot, Bipedal Locomotion, Dynamic Modelling, Finite Element Analysis, Zero Moment Point, Additive Manufacturing
Field Engineering
Published In Volume 8, Issue 1, January-February 2026
Published On 2026-02-05
DOI https://doi.org/10.36948/ijfmr.2026.v08i01.68238
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