Bipedal Humanoid Hardware Design: A Technology Review

TL;DR

This paper reviews current and emerging technologies in bipedal humanoid robot design, focusing on actuation, sensing, and manufacturing to improve mobility and compliance for real-world applications.

Contribution

It provides a comprehensive analysis of established and novel approaches in humanoid robot hardware design, highlighting recent advancements and future directions.

Findings

Shift towards compliant and efficient locomotion technologies

Innovative actuation schemes address rigidity limitations

Emerging manufacturing methods enable new robot designs

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 is 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.