Since the idea of embodied artificial intelligence was born,the U.S.has been an international frontrunner in the research and development(R&D)and application of the technology,while China has been a capable chaser...Since the idea of embodied artificial intelligence was born,the U.S.has been an international frontrunner in the research and development(R&D)and application of the technology,while China has been a capable chaser in recent years,particularly in the area of humanoid robots.展开更多
Humanoid robots exhibit structures and movements akin to those of humans,enabling them to assist or substitute for humans in various operations without necessitating alterations to their typical environment and tools....Humanoid robots exhibit structures and movements akin to those of humans,enabling them to assist or substitute for humans in various operations without necessitating alterations to their typical environment and tools.Sustaining bal-ance amidst disturbances constitutes a fundamental capability for humanoid robots.Consequently,adopting efficacious strategies to manage instability and mitigate injuries resulting from falls assumes paramount importance in advancing the widespread adoption of humanoid robotics.This paper presents a comprehensive overview of the ongoing development of strategies for coping with falls in humanoid robots.It systematically reviews and discusses three critical facets:fall state detection,preventive actions against falls,and post-fall protection measures.The paper undertakes a thorough classifica-tion of existing coping methodologies across different stages of falls,analyzes the merits and drawbacks of each approach,and outlines the evolving trajectory of solutions for addressing fall-related challenges across distinct stages.Finally,the paper provides a succinct summary and future prospects for the current fall coping strategies tailored for humanoid robots.展开更多
Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental adaptability.In this paper,a method was proposed to unifying passive bionic feet s...Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental adaptability.In this paper,a method was proposed to unifying passive bionic feet static supporting stability and dynamic terrain adaptability through the utilization of the Rigid-Elastic Hybrid(REH)dynamics model.First,a bionic foot model,named the Hinge Tension Elastic Complex(HTEC)model,was developed by extracting key features from human feet.Furthermore,the kinematics and REH dynamics of the HTEC model were established.Based on the foot dynamics,a nonlinear optimization method for stiffness matching(NOSM)was designed.Finally,the HTEC-based foot was constructed and applied onto BHR-B2 humanoid robot.The foot static stability is achieved.The enhanced adaptability is observed as the robot traverses square steel,lawn,and cobblestone terrains.Through proposed design method and structure,the mobility of the humanoid robot is improved.展开更多
This paper provides a comprehensive review of the current status, advancements, and future prospects of humanoid robots, highlighting their significance in driving the evolution of next-generation industries. By analy...This paper provides a comprehensive review of the current status, advancements, and future prospects of humanoid robots, highlighting their significance in driving the evolution of next-generation industries. By analyzing various research endeavors and key technologies, encompassing ontology structure,control and decision-making, and perception and interaction, a holistic overview of the current state of humanoid robot research is presented. Furthermore, emerging challenges in the field are identified, emphasizing the necessity for a deeper understanding of biological motion mechanisms, improved structural design,enhanced material applications, advanced drive and control methods, and efficient energy utilization. The integration of bionics, brain-inspired intelligence, mechanics, and control is underscored as a promising direction for the development of advanced humanoid robotic systems. This paper serves as an invaluable resource, offering insightful guidance to researchers in the field,while contributing to the ongoing evolution and potential of humanoid robots across diverse domains.展开更多
A parametric method to generate low energy gait for both single and double support phases with zero moment point（ZMP） stability is presented. The ZMP stability condition is expressed as a limit to the actuating torq...A parametric method to generate low energy gait for both single and double support phases with zero moment point（ZMP） stability is presented. The ZMP stability condition is expressed as a limit to the actuating torque of the support ankle, and the inverse dynamics of both walking phases is investigated. A parametric optimization method is implemented which approximates joint trajectories by cubic spline functions connected at uniformly distributed time knots and makes optimization parameters only involve finite discrete states describing key postures. Thus, the gait optimization is transformed into an ordinary constrained nonlinear programming problem. The effectiveness of the method is verified through numerical simulations conducted on the humanoid robot THBIP-I model.展开更多
Turning gait is a basic motion for humanoid robots. This paper presents a method for humanoid tuming, i.e. clock-turning. The objective of clock-turning is to change robot direction at a stationary spot. The clock-tur...Turning gait is a basic motion for humanoid robots. This paper presents a method for humanoid tuming, i.e. clock-turning. The objective of clock-turning is to change robot direction at a stationary spot. The clock-turning planning consists of four steps： ankle trajectory generation, hip trajectory generation, knee trajectory generation, and inverse kinematics calculation. Our proposed method is based on a typical humanoid structure with 12 DOFs （degrees of freedom）. The final output of clock-turning planning is 12 reference trajectories, which are used to control a humanoid robot with 12 DOFs. ZMP （zero moment point） is used as stability criterion for the planning. Simulation experiments are conducted to verify the effectiveness of our proposed clock-turuing method.展开更多
In this paper, a compound biped locomotion algorithm for a humanoid robot under development is presented. This paper is organized in two main parts. In the first part, it mainly focuses on the structural design for th...In this paper, a compound biped locomotion algorithm for a humanoid robot under development is presented. This paper is organized in two main parts. In the first part, it mainly focuses on the structural design for the humanoid. In the second part, the compound biped locomotion algorithm is presented based on the reference motion and reference Zero Moment Point （ZMP）. This novel algorithm includes calculation of the upper body motion and trajectory of the Center of Gravity （COG） of the robot. First, disturbances from the environment are eliminated by the compensational movement of the upper body; then based on the error between a reference ZMP and the real ZMP as well as the relation between ZMP and CoG, the CoG error is calculated, thus leading to the CoG trajectory. Then, the motion of the robot converges to its reference motion, generating stable biped walking. Because the calculation of upper body motion and trajectory of CoG both depend on the reference motion, they can work in parallel, thus providing double insurances against the robot＇s collapse. Finally, the algorithm is validated by different kinds of simulation experiments.展开更多
From weddings to marathons,humanoid robots are going viral in China.But will spectacle lead to real-world integration?On a bustling afternoon in Hangzhou,Zhejiang Prov-ince,six humanoid robots clad in red promotional ...From weddings to marathons,humanoid robots are going viral in China.But will spectacle lead to real-world integration?On a bustling afternoon in Hangzhou,Zhejiang Prov-ince,six humanoid robots clad in red promotional banners marched through busy com-mercial zones,charming onlookers and shaking hands with food delivery riders.展开更多
Humanoid robots are advanced general-purpose machines that mimic the human body,motion,and intelligence.They are capable of seamlessly integrating into human environments and utilizing existing infrastructure.
Humanoid robots,increasingly recognized for their potential to drive economic and social development,have garnered significant attention in recent years.This paper aims to provide a comprehensive overview of the progr...Humanoid robots,increasingly recognized for their potential to drive economic and social development,have garnered significant attention in recent years.This paper aims to provide a comprehensive overview of the progress,challenges,and future directions in humanoid robotics,with a particular emphasis on essential system components and key technological innovations.Through a review of historical milestones,this paper explores critical aspects such as the design of the head and body,and examines state-of-the-art technologies in areas like locomotion control,perception,and intelligent manipulation.By presenting a thorough analysis of the field,this work aims to serve as a valuable resource for researchers and inspire future innovations that will drive the continued evolution of humanoid robots.展开更多
When humanoid robots attempt to walk on terrain such as shaking platforms,time-varying disturbances are introduced to the support foot.These abrupt changes of inclination angle can cause the robot to lose balance upon...When humanoid robots attempt to walk on terrain such as shaking platforms,time-varying disturbances are introduced to the support foot.These abrupt changes of inclination angle can cause the robot to lose balance upon landing,presenting significant challenges for balance control algorithms.To address this issue,we propose a novel divergent component of motion(DCM)-based time-varying disturbance walking(DCM-TVDW)method.This method allows the robot to walk on rugged surfaces and helps to maintain dynamic balance when subjected to large time-varying disturbances.In the DCM-TVDW control method,we first adjust the robot's center of mass and stride height to adapt to transitions between different terrain types via a variable height stabilization method,and hold these quantities constant as base values.We then combine DCM with the N-step capturability strategy.This combination allows for dynamic balance through multi-step adjustments from the initially unstable region,thereby extending the robots stability boundary.Simulation and experimental results demonstrate that the DCM-TVDW method enables the SJ-Bruce robot to traverse a dynamically shaking platform with an inclination angle of approximately 22°.展开更多
This paper investigates the utilization of large language models(LLMs)for the comprehensive control of humanoid robot locomotion.Traditional reinforcement learning(RL)approaches for robot locomotion are resource-inten...This paper investigates the utilization of large language models(LLMs)for the comprehensive control of humanoid robot locomotion.Traditional reinforcement learning(RL)approaches for robot locomotion are resource-intensive and rely heavily on manually designed reward functions.To address these challenges,we propose a method that employs LLMs as the primary designer to handle key aspects of locomotion control,such as trajectory planning,inverse kinematics solving,and reward function design.By using user-provided prompts,LLMs generate and optimize code,reducing the need for manual intervention.Our approach was validated through simulations in Unity,demonstrating that LLMs can achieve human-level performance in humanoid robot control.The results indicate that LLMs can simplify and enhance the development of advanced locomotion control systems for humanoid robots.展开更多
In recent years,the rapid advancement of artificial intelligence(AI)has fostered deep integration between large AI models and robotic technology.Robots such as robotic dogs capable of carrying heavy loads on mountaino...In recent years,the rapid advancement of artificial intelligence(AI)has fostered deep integration between large AI models and robotic technology.Robots such as robotic dogs capable of carrying heavy loads on mountainous terrain or performing waste disposal tasks and humanoid robots that can execute high-precision component installations have gradually reached the public eye,raising expectations for embodied intelligent robots.展开更多
The wrist unit is crucial in humanoid robots,determining their operational dexterity and precision.To address current challenges such as excessive size,limited Degrees of Freedom(DoFs),and insufficient load capacity,w...The wrist unit is crucial in humanoid robots,determining their operational dexterity and precision.To address current challenges such as excessive size,limited Degrees of Freedom(DoFs),and insufficient load capacity,we propose a 3-DoF humanoid wrist inspired by the human forearm and wrist anatomy.This paper explores the principles of wrist bionic design and introduces a parallel mechanism actuated by a brushless DC motor(BLDC)-ball screw to achieve flexion/extension(F/E)and radial flexion/ulnar deviation(R/U),as along with pronation/supination(P/S)through an end-coupling design.We conducted an analysis on the inverse kinematic model and singularities of the humanoid wrist.Additionally,the workspace and motion capabilities of the humanoid wrist were evaluated.A prototype based on this design was built to demonstrate its motion and functional performance,verifying the feasibility and practicality of the humanoid wrist.This research provides a more compact design approach for future humanoid wrist development.展开更多
This paper proposes the Leg Dimensional Synergistic Optimization Strategy(LDSOS)for humanoid robotic legs based on mechanism decoupling and performance assignment.The proposed method addresses the interdependent effec...This paper proposes the Leg Dimensional Synergistic Optimization Strategy(LDSOS)for humanoid robotic legs based on mechanism decoupling and performance assignment.The proposed method addresses the interdependent effects of dimensional parameters on the local and whole mechanisms in the design of hybrid humanoid robotic legs.It sequentially optimizes the dimensional parameters of the local and whole mechanism,thereby balancing the motion performance requirements of both.Additionally,it considers the assignment of efficient performance resources between the Local Functional Workspace(LFW)and the Whole Available Workspace(WAW).To facilitate the modeling and optimization process,a local/whole Equivalent Configuration Framework(ECF)is introduced.By decoupling the hybrid mechanism into a whole mechanism and multiple local mechanisms,the ECF enhances the efficiency of design,modeling,and performance evaluation.Prototype experiments are conducted to validate the effectiveness of LDSOS.This research provides an effective configuration framework for humanoid robotic leg design,establishing a theoretical and practical foundation for future optimized designs of humanoid robotic legs and pioneering novel approaches to the design of complex hybrid humanoid robotic legs.展开更多
Human-like torso features are essential in humanoid robots. In this paper problems for design and operation of solutions for a robotic torso are discussed by referring to experiences and designs that have been develop...Human-like torso features are essential in humanoid robots. In this paper problems for design and operation of solutions for a robotic torso are discussed by referring to experiences and designs that have been developed at Laboratory of Robotics and Mechatronics （LARM） in Cassino, Italy. A new solution is presented with conceptual views as waist-trunk structure that makes a proper partition of the performance for walking and arm operations as sustained by a torso.展开更多
The dynamic motion capability of humanoid robots is a key indicator for evaluating their performance.Jumping,as a typical dynamic motion,is of great significance for enhancing the robot’s flexibility and terrain adap...The dynamic motion capability of humanoid robots is a key indicator for evaluating their performance.Jumping,as a typical dynamic motion,is of great significance for enhancing the robot’s flexibility and terrain adaptability in unstructured environments.However,achieving high-dynamic jumping control of humanoid robots has become a challenge due to the high degree of freedom and strongly coupled dynamic characteristics.The idea for this paper originated from the human response process to jumping commands,aiming to achieve online trajectory optimization and jumping motion control of humanoid robots.Firstly,we employ nonlinear optimization in combination with the Single Rigid Body Model(SRBM)to generate a robot’s Center of Mass(CoM)trajectory that complies with physical constraints and minimizes the angular momentum of the CoM.Then,a Model Predictive Controller(MPC)is designed to track and control the CoM trajectory,obtaining the required contact forces at the robot’s feet.Finally,a Whole-Body Controller(WBC)is used to generate full-body joint motion trajectories and driving torques,based on the prioritized sequence of tasks designed for the jumping process.The control framework proposed in this paper considers the dynamic characteristics of the robot’s jumping process,with a focus on improving the real-time performance of trajectory optimization and the robustness of controller.Simulation and experimental results demonstrate that our robot successfully executed high jump motions,long jump motions and continuous jump motions under complex working conditions.展开更多
Inspired by the driving muscles of the human arm,a 4-Degree of Freedom(DOF)concentrated driving humanoid robotic arm is proposed based on a spatial double parallel four-bar mechanism.The four-bar mechanism design redu...Inspired by the driving muscles of the human arm,a 4-Degree of Freedom(DOF)concentrated driving humanoid robotic arm is proposed based on a spatial double parallel four-bar mechanism.The four-bar mechanism design reduces the inertia of the elbow-driving unit and the torque by 76.65%and 57.81%,respectively.Mimicking the human pose regulation strategy that the human arm picks up a heavy object by adjusting its posture naturally without complicated control,the robotic arm features an integrated position-level closed-form inverse solution method considering both geometric and load capacity limitations.This method consists of a geometric constraint model incorporating the arm angle(φ)and the Global Configuration(GC)to avoid joint limits and singularities,and a load capacity model to constrain the feasible domain of the arm angle.Further,trajectory tracking simulations and experiments are conducted to validate the feasibility of the proposed inverse solution method.The simulated maximum output torque,maximum output power and total energy consumption of the robotic arm are reduced by up to 2.0%,13.3%,and 33.3%,respectively.The experimental results demonstrate that the robotic arm can bear heavy loads in a human-like posture,effectively reducing the maximum output torque and energy consumption of the robotic arm by 1.83%and 5.03%,respectively,while avoiding joints beyond geometric and load capacity limitations.The proposed design provides a high payload–weight ratio and an efficient pose control solution for robotic arms,which can potentially broaden the application spectrum of humanoid robots.展开更多
On the stage of China Media Group’s 2025 Spring Festival Gala,more than a dozen humanoid robots dressed in floral padded jackets danced alongside human counterparts in a creative folk dance performance.The robots not...On the stage of China Media Group’s 2025 Spring Festival Gala,more than a dozen humanoid robots dressed in floral padded jackets danced alongside human counterparts in a creative folk dance performance.The robots not only smoothly twisted their waists and mimicked human leg-kicking movements,but also spun handkerchiefs,displaying extremely dexterous moves and exceptional skills.展开更多
Some 20 years ago,10-yearold Wang Xingxing watched a documentary that featured a bipedal robot designed by Marc Raibert,now president of U.S.-based robot company Boston Dynamics.That moment planted the seed for his fu...Some 20 years ago,10-yearold Wang Xingxing watched a documentary that featured a bipedal robot designed by Marc Raibert,now president of U.S.-based robot company Boston Dynamics.That moment planted the seed for his future in innovation.Today,operating in China’s private sector,Wang’s company,Hangzhou-based Unitree Robotics in Zhejiang Province,is a globally recognized name in producing high-performance,general-purpose quadruped and humanoid robots.展开更多
文摘Since the idea of embodied artificial intelligence was born,the U.S.has been an international frontrunner in the research and development(R&D)and application of the technology,while China has been a capable chaser in recent years,particularly in the area of humanoid robots.
基金supported by the key research and development project of Science and Technology Department of Jilin Province(No.20230201102GX)the Natural Science Foundation of Chongqing(No.CSTB2022NSCQ-MSX0278)the 2023 college students innovation and entrepreneurship training plan(202310183105).
文摘Humanoid robots exhibit structures and movements akin to those of humans,enabling them to assist or substitute for humans in various operations without necessitating alterations to their typical environment and tools.Sustaining bal-ance amidst disturbances constitutes a fundamental capability for humanoid robots.Consequently,adopting efficacious strategies to manage instability and mitigate injuries resulting from falls assumes paramount importance in advancing the widespread adoption of humanoid robotics.This paper presents a comprehensive overview of the ongoing development of strategies for coping with falls in humanoid robots.It systematically reviews and discusses three critical facets:fall state detection,preventive actions against falls,and post-fall protection measures.The paper undertakes a thorough classifica-tion of existing coping methodologies across different stages of falls,analyzes the merits and drawbacks of each approach,and outlines the evolving trajectory of solutions for addressing fall-related challenges across distinct stages.Finally,the paper provides a succinct summary and future prospects for the current fall coping strategies tailored for humanoid robots.
基金supported by the National Natural Science Foundation of China(Grant No.62073041)the Open Fund of Laboratory of Aerospace Servo Actuation and Transmission(Grant No.LASAT-2023A04)the Fundamental Research Funds for the Central Universities(Grant Nos.2024CX06011,2024CX06079)。
文摘Passive bionic feet,known for their human-like compliance,have garnered attention for their potential to achieve notable environmental adaptability.In this paper,a method was proposed to unifying passive bionic feet static supporting stability and dynamic terrain adaptability through the utilization of the Rigid-Elastic Hybrid(REH)dynamics model.First,a bionic foot model,named the Hinge Tension Elastic Complex(HTEC)model,was developed by extracting key features from human feet.Furthermore,the kinematics and REH dynamics of the HTEC model were established.Based on the foot dynamics,a nonlinear optimization method for stiffness matching(NOSM)was designed.Finally,the HTEC-based foot was constructed and applied onto BHR-B2 humanoid robot.The foot static stability is achieved.The enhanced adaptability is observed as the robot traverses square steel,lawn,and cobblestone terrains.Through proposed design method and structure,the mobility of the humanoid robot is improved.
基金supported by the National Natural Science Foundation of China(62303457,U21A20482)Project funded by China Postdoctoral Science Foundation (2023M733737)the National Key R&D Program of China(2022YFB3303800)。
文摘This paper provides a comprehensive review of the current status, advancements, and future prospects of humanoid robots, highlighting their significance in driving the evolution of next-generation industries. By analyzing various research endeavors and key technologies, encompassing ontology structure,control and decision-making, and perception and interaction, a holistic overview of the current state of humanoid robot research is presented. Furthermore, emerging challenges in the field are identified, emphasizing the necessity for a deeper understanding of biological motion mechanisms, improved structural design,enhanced material applications, advanced drive and control methods, and efficient energy utilization. The integration of bionics, brain-inspired intelligence, mechanics, and control is underscored as a promising direction for the development of advanced humanoid robotic systems. This paper serves as an invaluable resource, offering insightful guidance to researchers in the field,while contributing to the ongoing evolution and potential of humanoid robots across diverse domains.
基金the National Natural Science Foundation of China (No.60674017).
文摘A parametric method to generate low energy gait for both single and double support phases with zero moment point（ZMP） stability is presented. The ZMP stability condition is expressed as a limit to the actuating torque of the support ankle, and the inverse dynamics of both walking phases is investigated. A parametric optimization method is implemented which approximates joint trajectories by cubic spline functions connected at uniformly distributed time knots and makes optimization parameters only involve finite discrete states describing key postures. Thus, the gait optimization is transformed into an ordinary constrained nonlinear programming problem. The effectiveness of the method is verified through numerical simulations conducted on the humanoid robot THBIP-I model.
基金This work was supported by the National Natural Science Foundation of China (No. 60174018).
文摘Turning gait is a basic motion for humanoid robots. This paper presents a method for humanoid tuming, i.e. clock-turning. The objective of clock-turning is to change robot direction at a stationary spot. The clock-turning planning consists of four steps： ankle trajectory generation, hip trajectory generation, knee trajectory generation, and inverse kinematics calculation. Our proposed method is based on a typical humanoid structure with 12 DOFs （degrees of freedom）. The final output of clock-turning planning is 12 reference trajectories, which are used to control a humanoid robot with 12 DOFs. ZMP （zero moment point） is used as stability criterion for the planning. Simulation experiments are conducted to verify the effectiveness of our proposed clock-turuing method.
基金supported by the National Natural Science Foundation of China (No.60375031)General Administration of Civil Aviation of China(No.60776816)the Natural Science Foundation of Guangdong Province (No.8251064101000005)
文摘In this paper, a compound biped locomotion algorithm for a humanoid robot under development is presented. This paper is organized in two main parts. In the first part, it mainly focuses on the structural design for the humanoid. In the second part, the compound biped locomotion algorithm is presented based on the reference motion and reference Zero Moment Point （ZMP）. This novel algorithm includes calculation of the upper body motion and trajectory of the Center of Gravity （COG） of the robot. First, disturbances from the environment are eliminated by the compensational movement of the upper body; then based on the error between a reference ZMP and the real ZMP as well as the relation between ZMP and CoG, the CoG error is calculated, thus leading to the CoG trajectory. Then, the motion of the robot converges to its reference motion, generating stable biped walking. Because the calculation of upper body motion and trajectory of CoG both depend on the reference motion, they can work in parallel, thus providing double insurances against the robot＇s collapse. Finally, the algorithm is validated by different kinds of simulation experiments.
文摘From weddings to marathons,humanoid robots are going viral in China.But will spectacle lead to real-world integration?On a bustling afternoon in Hangzhou,Zhejiang Prov-ince,six humanoid robots clad in red promotional banners marched through busy com-mercial zones,charming onlookers and shaking hands with food delivery riders.
基金supported by the National Natural Science Foundation of China under Grant 52188102.
文摘Humanoid robots are advanced general-purpose machines that mimic the human body,motion,and intelligence.They are capable of seamlessly integrating into human environments and utilizing existing infrastructure.
文摘Humanoid robots,increasingly recognized for their potential to drive economic and social development,have garnered significant attention in recent years.This paper aims to provide a comprehensive overview of the progress,challenges,and future directions in humanoid robotics,with a particular emphasis on essential system components and key technological innovations.Through a review of historical milestones,this paper explores critical aspects such as the design of the head and body,and examines state-of-the-art technologies in areas like locomotion control,perception,and intelligent manipulation.By presenting a thorough analysis of the field,this work aims to serve as a valuable resource for researchers and inspire future innovations that will drive the continued evolution of humanoid robots.
基金supported by Jiangsu Provincial Science and Technology Department Program Special Funds(Basic Research on Frontier Leading Technologies)Project(Grant No.BK20232031)。
文摘When humanoid robots attempt to walk on terrain such as shaking platforms,time-varying disturbances are introduced to the support foot.These abrupt changes of inclination angle can cause the robot to lose balance upon landing,presenting significant challenges for balance control algorithms.To address this issue,we propose a novel divergent component of motion(DCM)-based time-varying disturbance walking(DCM-TVDW)method.This method allows the robot to walk on rugged surfaces and helps to maintain dynamic balance when subjected to large time-varying disturbances.In the DCM-TVDW control method,we first adjust the robot's center of mass and stride height to adapt to transitions between different terrain types via a variable height stabilization method,and hold these quantities constant as base values.We then combine DCM with the N-step capturability strategy.This combination allows for dynamic balance through multi-step adjustments from the initially unstable region,thereby extending the robots stability boundary.Simulation and experimental results demonstrate that the DCM-TVDW method enables the SJ-Bruce robot to traverse a dynamically shaking platform with an inclination angle of approximately 22°.
基金supported in part by the Guangdong Basic and Applied Basic Research Foundation,China(2024A1515012041)in part by the Shenzhen Higher Education Stability Support Plan,China(GXWD20231130195340002)+1 种基金in part by the Program of Shenzhen Peacock Innovation Team,Guangdong,China(KQTD20210811090146075)the Basic Research Program of Shenzhen,China(JCYJ20220818102415034).
文摘This paper investigates the utilization of large language models(LLMs)for the comprehensive control of humanoid robot locomotion.Traditional reinforcement learning(RL)approaches for robot locomotion are resource-intensive and rely heavily on manually designed reward functions.To address these challenges,we propose a method that employs LLMs as the primary designer to handle key aspects of locomotion control,such as trajectory planning,inverse kinematics solving,and reward function design.By using user-provided prompts,LLMs generate and optimize code,reducing the need for manual intervention.Our approach was validated through simulations in Unity,demonstrating that LLMs can achieve human-level performance in humanoid robot control.The results indicate that LLMs can simplify and enhance the development of advanced locomotion control systems for humanoid robots.
文摘In recent years,the rapid advancement of artificial intelligence(AI)has fostered deep integration between large AI models and robotic technology.Robots such as robotic dogs capable of carrying heavy loads on mountainous terrain or performing waste disposal tasks and humanoid robots that can execute high-precision component installations have gradually reached the public eye,raising expectations for embodied intelligent robots.
基金supported by the National Natural Science Foundation of China(NO.52175069 and NO.52305043).
文摘The wrist unit is crucial in humanoid robots,determining their operational dexterity and precision.To address current challenges such as excessive size,limited Degrees of Freedom(DoFs),and insufficient load capacity,we propose a 3-DoF humanoid wrist inspired by the human forearm and wrist anatomy.This paper explores the principles of wrist bionic design and introduces a parallel mechanism actuated by a brushless DC motor(BLDC)-ball screw to achieve flexion/extension(F/E)and radial flexion/ulnar deviation(R/U),as along with pronation/supination(P/S)through an end-coupling design.We conducted an analysis on the inverse kinematic model and singularities of the humanoid wrist.Additionally,the workspace and motion capabilities of the humanoid wrist were evaluated.A prototype based on this design was built to demonstrate its motion and functional performance,verifying the feasibility and practicality of the humanoid wrist.This research provides a more compact design approach for future humanoid wrist development.
文摘This paper proposes the Leg Dimensional Synergistic Optimization Strategy(LDSOS)for humanoid robotic legs based on mechanism decoupling and performance assignment.The proposed method addresses the interdependent effects of dimensional parameters on the local and whole mechanisms in the design of hybrid humanoid robotic legs.It sequentially optimizes the dimensional parameters of the local and whole mechanism,thereby balancing the motion performance requirements of both.Additionally,it considers the assignment of efficient performance resources between the Local Functional Workspace(LFW)and the Whole Available Workspace(WAW).To facilitate the modeling and optimization process,a local/whole Equivalent Configuration Framework(ECF)is introduced.By decoupling the hybrid mechanism into a whole mechanism and multiple local mechanisms,the ECF enhances the efficiency of design,modeling,and performance evaluation.Prototype experiments are conducted to validate the effectiveness of LDSOS.This research provides an effective configuration framework for humanoid robotic leg design,establishing a theoretical and practical foundation for future optimized designs of humanoid robotic legs and pioneering novel approaches to the design of complex hybrid humanoid robotic legs.
文摘Human-like torso features are essential in humanoid robots. In this paper problems for design and operation of solutions for a robotic torso are discussed by referring to experiences and designs that have been developed at Laboratory of Robotics and Mechatronics （LARM） in Cassino, Italy. A new solution is presented with conceptual views as waist-trunk structure that makes a proper partition of the performance for walking and arm operations as sustained by a torso.
基金supported in part by the National Key Research and Development Program of China(2020YFB13134)Major Project of National Natural Science Foundation of China(U2013602)+2 种基金The National Nature Science Foundation of China(52075115)HIT Major Campus Cultivation Project(2023FRFK01001)National independent project(SKLRS202301A12).
文摘The dynamic motion capability of humanoid robots is a key indicator for evaluating their performance.Jumping,as a typical dynamic motion,is of great significance for enhancing the robot’s flexibility and terrain adaptability in unstructured environments.However,achieving high-dynamic jumping control of humanoid robots has become a challenge due to the high degree of freedom and strongly coupled dynamic characteristics.The idea for this paper originated from the human response process to jumping commands,aiming to achieve online trajectory optimization and jumping motion control of humanoid robots.Firstly,we employ nonlinear optimization in combination with the Single Rigid Body Model(SRBM)to generate a robot’s Center of Mass(CoM)trajectory that complies with physical constraints and minimizes the angular momentum of the CoM.Then,a Model Predictive Controller(MPC)is designed to track and control the CoM trajectory,obtaining the required contact forces at the robot’s feet.Finally,a Whole-Body Controller(WBC)is used to generate full-body joint motion trajectories and driving torques,based on the prioritized sequence of tasks designed for the jumping process.The control framework proposed in this paper considers the dynamic characteristics of the robot’s jumping process,with a focus on improving the real-time performance of trajectory optimization and the robustness of controller.Simulation and experimental results demonstrate that our robot successfully executed high jump motions,long jump motions and continuous jump motions under complex working conditions.
基金funded by the National Natural Science Foundation of China(NO.52175069).
文摘Inspired by the driving muscles of the human arm,a 4-Degree of Freedom(DOF)concentrated driving humanoid robotic arm is proposed based on a spatial double parallel four-bar mechanism.The four-bar mechanism design reduces the inertia of the elbow-driving unit and the torque by 76.65%and 57.81%,respectively.Mimicking the human pose regulation strategy that the human arm picks up a heavy object by adjusting its posture naturally without complicated control,the robotic arm features an integrated position-level closed-form inverse solution method considering both geometric and load capacity limitations.This method consists of a geometric constraint model incorporating the arm angle(φ)and the Global Configuration(GC)to avoid joint limits and singularities,and a load capacity model to constrain the feasible domain of the arm angle.Further,trajectory tracking simulations and experiments are conducted to validate the feasibility of the proposed inverse solution method.The simulated maximum output torque,maximum output power and total energy consumption of the robotic arm are reduced by up to 2.0%,13.3%,and 33.3%,respectively.The experimental results demonstrate that the robotic arm can bear heavy loads in a human-like posture,effectively reducing the maximum output torque and energy consumption of the robotic arm by 1.83%and 5.03%,respectively,while avoiding joints beyond geometric and load capacity limitations.The proposed design provides a high payload–weight ratio and an efficient pose control solution for robotic arms,which can potentially broaden the application spectrum of humanoid robots.
文摘On the stage of China Media Group’s 2025 Spring Festival Gala,more than a dozen humanoid robots dressed in floral padded jackets danced alongside human counterparts in a creative folk dance performance.The robots not only smoothly twisted their waists and mimicked human leg-kicking movements,but also spun handkerchiefs,displaying extremely dexterous moves and exceptional skills.
文摘Some 20 years ago,10-yearold Wang Xingxing watched a documentary that featured a bipedal robot designed by Marc Raibert,now president of U.S.-based robot company Boston Dynamics.That moment planted the seed for his future in innovation.Today,operating in China’s private sector,Wang’s company,Hangzhou-based Unitree Robotics in Zhejiang Province,is a globally recognized name in producing high-performance,general-purpose quadruped and humanoid robots.
