Biomimetic and smart technology principles of humanoid design

Abstract

Humanoid and bipedal robots are complex mechatronic systems requiring developments in mechanical/kinematic design, sensory systems, artificial intelligence, computing, control, communications and actuation/power systems. This complexity makes their construction a substantial challenge for workers in many branches of science and engineering and has prompted research inspired by the success of biological creations. Traditionally such mechanism design has avoided the use of flexible materials and structures because of the difficulties associated with operation and control. However, it is clear that the light flexible structures and designs common in nature, might offer many advantages if they could be used effectively. This paper will initially study the actuation requirements for a humanoid showing how pneumatic muscle actuators (pMA) can emulate much of the action of natural muscle. The design of the mechanical structure, making extensive use of composite materials, will then be introduced. The mechanism for integrating and controlling the actions of the joints using the pMA will be studied followed by an analysis of the power requirements for balanced bipedal motion. The paper will finally draw conclusions based on this work and suggest a path for future development.