华南理工大学学报（自然科学版）2025，Vol.53Issue(10)：131-144,14.DOI:10.12141/j.issn.1000-565X.240228
人形机器人腿部构型研究的历史、现状与展望
History,Present Situation and Prospect of Research on Leg Configuration of Humanoid Robot
摘要
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 con-straints 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 of-fers 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 pa-per also discussed technical difficulties and hot spots in the study of leg configuration and pointed out the develop-ment trend:the leg configuration is developing from single series configuration to parallel and series-parallel con-figuration,from rigid actuator to elastic actuator and quasi direct drive actuator,from torque control to hybrid force-position control.关键词
驱动器/串并联构型/腿部/运动控制/人形机器人Key words
actuator/series-parallel configuration/leg/motion control/humanoid robot分类
信息技术与安全科学引用本文复制引用
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):131-144,14.基金项目
国家自然科学基金项目(52375048,52305046) （52375048,52305046）
广东海洋大学科研启动项目(1302-360302022301) Supported by the National Natural Science Foundation of China(52375048,52305046) （1302-360302022301）
