Derivation and Verification of Minimum Design Requirements for an Evaluation Treadmill Based on Humanoid Robot Specifications Analysis

As humanoid robot applications expand, there is a growing need for test environments that enable repeated and reproducible evaluation of walking performance. This study establishes minimum design requirements for an evaluation treadmill applicable to various humanoid robots. Public specifications of nine humanoid robots, including mass, payload, walking speed, and operating time, were analyzed to determine the required test load, belt speed, and operating time. Based on these requirements, the drive system and frame were designed, and finite element analysis was conducted under static and dynamic loading conditions. The results showed that the frame stresses remained below the material yield strength, with a maximum deflection of approximately 0.036 mm, confirming structural integrity. The proposed requirements provide a practical reference for the design of evaluation treadmills for humanoid robots.