Architecture innovation for the lower limbs of a humanoid robot

摘要

This paper analyzes and compares different architecture schemes for the lower limbs of a humanoid robot. According to the biology kinematic characteristics of the lower limbs of human being, we first establish a rough architecture model for the lower limb of a humanoid robot, and then investigate the twists of the chain. With reciprocal screw theory, we obtain the maximum linearly independent screw set and the different architecture schemes for the lower limbs of the humanoid robot via combining the maximum linearly independent screws. Considering the real requirements of engineering such as the compactness and manufacturing, we exploit and compare the different schemes for the lower limbs of humanoid robots. The methodology proposed in this paper can also be utilized to optimally synthesize and create the limbs of other bionic robots.