Design of A Novel Hybrid Driven Biped Humanoid Robot

Current humanoid robots predominantly utilize electric motors for actuation, which imposes stringent requirements on motor performance metrics such as efficiency, dynamic response, and power density. To address these challenges, this paper proposes a hybrid driven method for bipedal humanoid robots. The method integrates a compact passive mechanism to store and release energy during walking. Thus, the requirements of torque, power and energy for the motors can be reduced. In this paper, the working principle of the novel hybrid-driven design is described. A 3D model of the bipedal humanoid robot is developed. Simulations validate the feasibility of the proposed design, demonstrating reduced motor torque and improved energy efficiency.