History, Present Situation and Prospect of Research on Leg Configuration of Humanoid Robot

doi:10.12141/j.issn.1000-565X.240228

Abstract

Abstract:

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

CLC Number:

TP242.6

DING Hongyu, SHI Zhaoyao, ZHANG Pan, FU Chunjiang. History, Present Situation and Prospect of Research on Leg Configuration of Humanoid Robot[J]. Journal of South China University of Technology(Natural Science Edition), 2025, 53(10): 131-144.

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机器人名称（时间）	腿部使用并联机构自由度数量			腿部应用并联机构自由度数量
机器人名称（时间）	髋部	膝部	踝部	腿部应用并联机构自由度数量
LOLA^［9］（2006年）	0	1	2	3
Valkyrie^［36］（2013年）	0	0	2	2
TORO^［22］（2014年）	0	0	2	2
THOR^［10］（2014年）	3	1	2	6
TALOS^［40］（2017年）	0	0	2	2
RH5^［9］（2017年）	1	1	2	4
Disney Robot^［52］（2018年）	3	1	1	6
YC^［57］（2021年）	1	1	2	4
MIT Humanoid^［56］（2021年）	1	1	2	4
Optimus^［64］（2022年）	2	1	2	5
BHR-T^［63］（2023年）	0	1	2	3

部位名称	机构/代号
髋部
髋部	3-UPU	3-PSP	3-RRR	3-R［2-SS］
膝部
膝部	1-RRRR	1-RRPR
踝部
踝部	2-SPU+1U	2-PUS+1U	2-SPRR+1U	2-SU［1-RRPR］+1U