In Humanoid robotics field, capability to perform any task that imitates human movement has been the major research focus. One of the critical movements is the Sit to Stand (STS) motion. STS motion can be predicted using three-link (3L) robot inverse kinematic and dynamic model. 3L multi segments is quite complicated and requires high computational resources to calculate. Telescopic Inverted Pendulum ( TIP ) is another model that much simpler for planning and analyzing humanoid robot since it represent whole body with one single link. However it is not clear whether TIP can represent 3L multi segment robot yet. Thus, this paper objective is to find the relationship between TIP and 3L model when the mass is varied. To do so, simulation setup for 3L and TIP model is developed using MAT LAB. The torque values at each joint are observed to obtain the relationship between mass and the torque. The results show that both TIP and 3L model give a similarity result where mass and torque change in linear. For every drop of mass, the torque is also decrease.

Sit to stand (STS) is a very challenging motion for any humanoid robotic system. In humanoid robotics field, the STS motion on the sagittal plane can be predicted using three-link robot inverse kinematic and dynamic model. However, a three-link model is complicated and requires high computational resource to compute. Hence, in this paper a much simpler model namely telescopic inverted pendulum is proposed. The objective of this project is to model and validate sit to stand motion of humanoid robot using telescopic inverted pendulum model. In order to validate the model, simulated joint torques using both three-link and TIPS model are compared using MATLAB software. Result shows that there is a linear relationship between Telescopic Inverted Pendulum with the 3 Link model thus, it is feasible to use TIPS to represent STS motion of a three-link multi-segment robot.

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