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A Guideline for Humanoid Leg Design with Oblique Axes for Bipedal Locomotion

Fründ, Konrad and Shu, Anton Leonhard and Loeffl, Florian Christoph and Ott, Christian (2023) A Guideline for Humanoid Leg Design with Oblique Axes for Bipedal Locomotion. In: 2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022. IEEE. 2022 IEEE-RAS International Conference on Humanoid Robots, 28-30 Nov 2022, Ginowan, Japan. doi: 10.1109/Humanoids53995.2022.10000126. ISBN 979-835030979-9. ISSN 2164-0572.

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Official URL: https://ieeexplore.ieee.org/document/10000126


The kinematics of humanoid robots are strongly inspired by the human archetype. A close analysis of the kinematics of the human musculoskeletal system reveals that the human joint axes are oriented within certain inclinations. This is in contrast to the most popular humanoid design with a configuration based on perpendicular joint axes. This paper reviews the oblique joint axes of the mainly involved joints for locomotion of the human musculoskeletal system. We elaborate on how the oblique axes affect the performance of walking and running. The mechanisms are put into perspective for the locomotion types of walking and running. In particular, walking robots can highly benefit from using oblique joint axes. For running, the primary goal is to align the axis of motion to the mainly active sagittal plane. The results of this analysis can serve as a guideline for the kinematic design of a humanoid robot and a prior for optimization-based approaches.

Item URL in elib:https://elib.dlr.de/192270/
Document Type:Conference or Workshop Item (Other)
Additional Information:Best Interactive Paper Award
Title:A Guideline for Humanoid Leg Design with Oblique Axes for Bipedal Locomotion
AuthorsInstitution or Email of AuthorsAuthor's ORCID iDORCID Put Code
Fründ, KonradUNSPECIFIEDhttps://orcid.org/0000-0002-9581-8045UNSPECIFIED
Shu, Anton LeonhardUNSPECIFIEDhttps://orcid.org/0000-0002-8825-6697UNSPECIFIED
Loeffl, Florian ChristophUNSPECIFIEDhttps://orcid.org/0000-0002-6914-5414UNSPECIFIED
Ott, ChristianUNSPECIFIEDhttps://orcid.org/0000-0003-0987-7493UNSPECIFIED
Date:5 January 2023
Journal or Publication Title:2022 IEEE-RAS 21st International Conference on Humanoid Robots, Humanoids 2022
Refereed publication:Yes
Open Access:Yes
Gold Open Access:No
In ISI Web of Science:Yes
Keywords:Humanoid Leg Design; Bipedal Locomotion; Oblique Axes
Event Title:2022 IEEE-RAS International Conference on Humanoid Robots
Event Location:Ginowan, Japan
Event Type:international Conference
Event Dates:28-30 Nov 2022
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Robotics
DLR - Research area:Raumfahrt
DLR - Program:R RO - Robotics
DLR - Research theme (Project):R - Walking robot/locomotion [RO]
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Mechatronic Systems
Institute of Robotics and Mechatronics (since 2013)
Deposited By: Fründ, Konrad
Deposited On:14 Dec 2022 19:37
Last Modified:26 Jan 2023 13:58

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