Bipedal Humanoid Hardware Design: a Technology Review

Abstract

Purpose of Review 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. Recent Findings 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. Summary 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.

Fuzzy Logic-Based Controller for Bipedal Robot

“…Then the IDPD controller was applied. The system of differential Equation (7) representing the motion of the robot is presented in Section 3, with the assumption that it is correct and that it is used for this IDPD controller.…”

“…The IDPID controller, which contains a disturbance-limiting and disturbance-eliminating element, was applied. In the system of differential equations of robot motion (7), it is assumed that there are uncertain factors such as friction force, noise, etc.…”

“…Assuming that the robot dynamical model was fully and accurately determined and that the motion trajectory was designed to ensure the relative equilibrium condition, ignoring noise and external forces, the dynamic model applied to the IDPD controller is the differential equations of motion of the robot (7). Applying the control law IDPD, the system of equations to determine the control force/moment is shown as follows:…”

“…Because of such structural characteristics and applicability, bipedal robots are of wide research interest [1][2][3][4][5][6][7][8].…”

Novel SPECTA Actuator to Improve Energy Recuperation and Efficiency

“…For specific examples, one can look at the robots of Boston Dynamics. The Atlas robot has 60 min autonomy with a battery of 3.7 kWh to move a body of 80 kg [1,2], whereas Spot can move without load for approximately 90 min with a battery of 605 Wh [3]. Stretch, on the other hand, which was released in early 2021, has 16 h autonomy.…”