This work proposes energy analysis method for humanoid robot, seen from simple motion task to complex one in energy chain. The research developed a procedure suitable for analysis, saving and modelling of energy consumption not only in this type of robot but also in most robots that based on electrical power as an energy source. This method has validated by an accurate integration using Matlab software for the power consumption curve to calculate the energy of individual and multiple servo motors. Therefore, this study can be considered as a procedure for energy analysis by utilizing the laboratory instruments capabilities to measure the energy parameters. We performed a various task motions with different angular speed to find out the speed limits in terms of robot stability and control strategy. A battery capacity investigation have been searched for several types of batteries to extract the power modelling equation and energy density parameter for each battery type, Matlab software have been built to design the algorithm and to evaluate experimental amount of the energy which is represented by area under the curve of the power curves. This will provide a robust estimation for the required energy in different task motions to be considered in energy saving (i.e., motion planning and real time scheduling).
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