As new technological advancements are made, humanoid robots that utilise them are being designed and manufactured. For optimal design choices, a broad overview with insight on the advantages and disadvantages of available technologies is necessary. This article intends to provide an analysis on the established approaches and contrast them with emerging ones. A clear shift in the recent design features of humanoid robots is developing, which is supported by literature. As humanoid robots are meant to leave laboratories and traverse the world, compliance and more efficient locomotion are necessary. The limitations of highly rigid actuation are being tackled by different research groups in unique ways. Some focus on modifying the kinematic structure, while others change the actuation scheme. With new manufacturing capabilities, previously impossible designs are becoming feasible. A comprehensive review on the technologies crucial for bipedal humanoid robots was performed. Different mechanical concepts have been discussed, along with the advancements in actuation, sensing, and manufacturing. The paper is supplemented with a list of the recently developed platforms along with a selection of their specifications.

/pdf/bipedal-humanoid-hardware-design-a-technology-review-54247v1zrp.pdf

Bipedal Humanoid Hardware Design: a Technology Review

Bionic concept and synthesis methods of the biomimetic robot joint mechanism for accurately reproducing the motion pattern of the human knee joint

Mobile robots are proven to be reliable in supporting the human tasks by using a computerized system that minimizes human errors. However, recharging the battery in these robots is still performed manually by the user. Therefore, to extend their lifetime, an indoor automatic docking system ‘AutoDock-IPS’ is created for mobile robot to charge its battery automatically. The automatic docking system determines the location of the docks (i.e., charging stations) so that, prototype can immediately navigate to them. Experiments were carried out to validate the docking method by utilizing a compass module as a direction sensor and a rotary encoder as a displacement indicator. These sensors are combined into a robust indoor positioning system. The results show that the prototype can find the fastest route to the docking station to perform battery charging procedure.

/pdf/autodock-ips-an-automated-docking-for-mobile-robot-based-on-15kcc3cfph.pdf

AutoDock-IPS: An Automated Docking for Mobile Robot Based on Indoor Positioning System

Toward swift running on biped robots, this article provides a complete design approach for a robot leg featuring reduced rotational inertia and introduces a novel mechanic optimization scheme to meet severe mechanical requirements. We adopt a ballscrew driving setup to design the inertia-reduced driving for the leg. When designing the actuator's transmission to satisfy the joints' speed and torque demands, it is challenging to specify the mechanism parameters because their effects are nonlinear and highly coupled. To address this problem, we invite a novel idea that uses target motion trajectories to guide the optimization process and make the mechanism fit the motion best. For that purpose, the joint space position is divided into a high-speed and high-torque region by analyzing the target joint trajectories. Then, the optimization scheme is formulated according to this division to obtain the optimized joint position–transmission ratio curve. The proposed technique can dramatically reduce the torque demands, making a good tradeoff in reconciling the dilemma between the joint speed and torque demands. Finally, the proposed scheme is validated with a 7 km/h running motion on the biped robot BHR-T, enhancing the robot with the desired athletic capacities.

Swift Running Robot Leg: Mechanism Design and Motion-Guided Optimization

Recent years, with the development of the legged robots, higher torque output and lower backdrivability are required. However, existing legged robots often use larger torque motor or reduction ratio gearbox to reach the power requirement, which will increase the size and weight also lower the backdrivability. To make the robot more dynamic and agile, the variable ratio crossed four-bar mechanism(VRC) based on the human cruciate ligament has been proposed. The knee joints with VRC have a wide range of motion which can make the robot jump more like a human. Also the feature that the reduction ratio raises when flexing and reduce when extending can provide rational torque curve. In this paper, we designed a robot leg whose knee joint used the VRC and optimized the link parameters to maximize the jumping height of the robot. The main contribution of this paper are a design of the legged robot with the VRC; the dynamics model of the robot and the kinematic analysis of the VRC; the optimization of the mechanism's design parameters that can maximum the robot's jumping height; a simulation of the high jumping process.

Variable reduction ratio knee joint inspired by cruciate ligament for legged robot

Generally, large knee joint torque is required when a leg is flexed. However, the large torque motor will increase the robot size and total weight. Also, a large reduction ratio gear box to realize the large torque will decrease output speed and lower backdrivability of the joint. It makes the robot difficult to perform agile and flexible motion like animals. In this paper, we propose a robot leg with a knee joint mechanism consisting of a variable reduction ratio crossed four-bar linkage mechanism (VRRCFLM) based on cruciate ligament of an animal. The VRRCFLM is to increase the reduction ratio for large knee flexion postures without greatly reducing the total backdrivability. In this paper, we developed a robot leg with a knee joint mechanism consisting of the VRRCFLM. In order to design the link parameters of the leg mechanism, optimization design aimed at maximizing the jumping height of the robot was performed. The robot model with the designed mechanism was evaluated through the dynamics simulations. Thanks to the VRRCFLM, the required torque of the knee motor at the large flexion postures was decreased. Moreover, the vertical jumping height was improved by 24.6 % comparing with a model without the mechanism. In experiments using the prototype, the required static torque was decreased as in simulation, and the jumping height was more than one leg length.

Design of Robot Leg with Variable Reduction Ratio Crossed Four-bar Linkage Mechanism

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Design of Robot Leg with Variable Reduction Ratio Crossed Four-bar Linkage Mechanism