收稿日期: 2024-05-09
网络出版日期: 2025-05-29
基金资助
国家自然科学基金项目(52375048);国家自然科学基金项目(52305046);广东海洋大学科研启动项目(1302-360302022301)
History, Present Situation and Prospect of Research on Leg Configuration of Humanoid Robot
Received date: 2024-05-09
Online published: 2025-05-29
Supported by
the National Natural Science Foundation of China(52375048)
人形机器人的运动性能还没有全面达到人类的水平，是影响其大规模产业化应用的因素之一，这不仅是由于控制算法的限制，也受到机械结构设计的制约，尤其是腿部构型在很大程度上决定了机器人的动态平衡性、负载能力和能源效率。为此，该文研究了国内外人形机器人腿部构型的起源与发展历程。目前，人形机器人的腿部构型主要分为串联、并联和串并联3种形式，其结构特性直接影响运动表现。该文分析了串联、并联和串并联构型，并比较其性能特点：串联构型工作空间大，灵活性高，但由于关节传动链较长，刚度相对较低，影响承载能力；并联构型刚度高，动态响应快，但运动范围受限；串并联构型则结合了前两者的优势，具有较好的刚度和灵活性，近年来逐渐成为研究热点之一。讨论了腿部构型研究的技术难点、热点，指出了发展趋势：腿部从采用单一串联构型向使用并联和串并联构型方向发展；腿部驱动器由刚性驱动器向弹性和准直驱驱动器方向发展；腿部采用旋转驱动器向旋转和直线驱动器并用方向发展；控制方面由位置控制向力矩控制和力位混合控制方向发展。
丁宏钰 , 石照耀 , 张攀 , 付春江 . 人形机器人腿部构型研究的历史、现状与展望[J]. 华南理工大学学报(自然科学版), 2025 , 53(10) : 131 -144 . DOI: 10.12141/j.issn.1000-565X.240228
The motion performance of humanoid robots has not yet fully reached the level of human beings, which is one of the factors hindering their large-scale industrial application. This limitation stems not only from constraints in control algorithms but also from mechanical structure design, particularly the leg configuration, which largely determines a robot’s dynamic balance, load capacity, and energy efficiency. The study examined the origins and evolution of leg configurations in humanoid robots, both domestically and internationally. Currently, the leg configurations of humanoid robots are primarily categorized into three types: serial, parallel, and hybrid serial-parallel. Their structural characteristics directly influence locomotion performance. The study compared the serial, the parallel and the series-parallel configurations and their performance characteristics. The serial configuration offers a large workspace and high flexibility, but its relatively lower stiffness—due to the extended joint transmission chain—compromises its load capacity. The parallel configuration provides high rigidity and fast dynamic response, yet its range of motion is limited. The hybrid serial-parallel design combines the strengths of both, achieving ba-lanced stiffness and flexibility, which has increasingly made it a key research focus in recent years. Finally, this paper also discussed technical difficulties and hot spots in the study of leg configuration and pointed out the development trend: the leg configuration is developing from single series configuration to parallel and series-parallel configuration, from rigid actuator to elastic actuator and quasi direct drive actuator, from torque control to hybrid force-position control.
Key words： actuator; series-parallel configuration; leg; motion control; humanoid robot
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