Design of Actuators for a Humanoid Robot with Anthropomorphic Characteristics and Running Capability
In this paper, we present the details of the actuator design for our humanoid robot, Mithra. Mithra has been designed to match an average adult human in terms of kinematic and kinetic characteristics. This poses various challenges in actuator design that we have addressed in this work. First, we dis...
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MDPI AG
2025-05-01
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| Series: | Actuators |
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| Online Access: | https://www.mdpi.com/2076-0825/14/5/243 |
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| author | Chathura Semasinghe Drake Taylor Siavash Rezazadeh |
| author_facet | Chathura Semasinghe Drake Taylor Siavash Rezazadeh |
| author_sort | Chathura Semasinghe |
| collection | DOAJ |
| description | In this paper, we present the details of the actuator design for our humanoid robot, Mithra. Mithra has been designed to match an average adult human in terms of kinematic and kinetic characteristics. This poses various challenges in actuator design that we have addressed in this work. First, we discuss how the high-level design can help in achieving anthropomorphic traits. Next, the detailed design is verified and finalized using stress and fatigue analyses. Further, we conduct experiments to validate the actuator’s bandwidth and backdrivability, and discuss the outcomes in comparison with human characteristics. The results show that Mithra’s actuators have sufficient structural strength to withstand high running forces, and at the same time, provide human-like traits and capabilities to accommodate human-inspired control paradigms. |
| format | Article |
| id | doaj-art-c1838435f9b04d5fa783a0b8a64310d7 |
| institution | OA Journals |
| issn | 2076-0825 |
| language | English |
| publishDate | 2025-05-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Actuators |
| spelling | doaj-art-c1838435f9b04d5fa783a0b8a64310d72025-08-20T02:33:43ZengMDPI AGActuators2076-08252025-05-0114524310.3390/act14050243Design of Actuators for a Humanoid Robot with Anthropomorphic Characteristics and Running CapabilityChathura Semasinghe0Drake Taylor1Siavash Rezazadeh2Department of Mechanical and Materials Engineering, University of Denver, 2155 East Wesley Avenue, Denver, CO 80210, USADepartment of Mechanical and Materials Engineering, University of Denver, 2155 East Wesley Avenue, Denver, CO 80210, USADepartment of Mechanical and Materials Engineering, University of Denver, 2155 East Wesley Avenue, Denver, CO 80210, USAIn this paper, we present the details of the actuator design for our humanoid robot, Mithra. Mithra has been designed to match an average adult human in terms of kinematic and kinetic characteristics. This poses various challenges in actuator design that we have addressed in this work. First, we discuss how the high-level design can help in achieving anthropomorphic traits. Next, the detailed design is verified and finalized using stress and fatigue analyses. Further, we conduct experiments to validate the actuator’s bandwidth and backdrivability, and discuss the outcomes in comparison with human characteristics. The results show that Mithra’s actuators have sufficient structural strength to withstand high running forces, and at the same time, provide human-like traits and capabilities to accommodate human-inspired control paradigms.https://www.mdpi.com/2076-0825/14/5/243humanoid robotsmulti-DoF actuator designfinite element analysisfatigue analysisbackdrivability |
| spellingShingle | Chathura Semasinghe Drake Taylor Siavash Rezazadeh Design of Actuators for a Humanoid Robot with Anthropomorphic Characteristics and Running Capability Actuators humanoid robots multi-DoF actuator design finite element analysis fatigue analysis backdrivability |
| title | Design of Actuators for a Humanoid Robot with Anthropomorphic Characteristics and Running Capability |
| title_full | Design of Actuators for a Humanoid Robot with Anthropomorphic Characteristics and Running Capability |
| title_fullStr | Design of Actuators for a Humanoid Robot with Anthropomorphic Characteristics and Running Capability |
| title_full_unstemmed | Design of Actuators for a Humanoid Robot with Anthropomorphic Characteristics and Running Capability |
| title_short | Design of Actuators for a Humanoid Robot with Anthropomorphic Characteristics and Running Capability |
| title_sort | design of actuators for a humanoid robot with anthropomorphic characteristics and running capability |
| topic | humanoid robots multi-DoF actuator design finite element analysis fatigue analysis backdrivability |
| url | https://www.mdpi.com/2076-0825/14/5/243 |
| work_keys_str_mv | AT chathurasemasinghe designofactuatorsforahumanoidrobotwithanthropomorphiccharacteristicsandrunningcapability AT draketaylor designofactuatorsforahumanoidrobotwithanthropomorphiccharacteristicsandrunningcapability AT siavashrezazadeh designofactuatorsforahumanoidrobotwithanthropomorphiccharacteristicsandrunningcapability |