Humanoids and Legged Robots
How Bipedal Robots Stay Upright: From ZMP to MPC
A biped stays upright by keeping the ground reaction force where it can still generate a correcting moment. The classical answer keeps the...
Section 04
Humanoids and Legged Robots
Legs, hands and the energy budget that still limits every humanoid programme.
Humanoids and Legged Robots
Why Humanoid Robots Run Out of Power in Two Hours
A humanoid spends energy just standing up. Unlike a wheeled robot, which draws close to zero at rest, a legged machine holds its posture...
Humanoids and Legged Robots
Do Humanoid Robots Need Legs? The Case for Wheels
Legs buy access to stairs, kerbs and cluttered floors, and they cost energy, complexity and a fall risk that no wheeled machine carries. In...
Humanoids and Legged Robots
Can a Humanoid Lift What a Human Lifts?
On paper yes, in practice no. Full-size humanoids publish 16 to 25 kg dual-arm payloads, which sits near the 23 kg reference load used in...
Humanoids and Legged Robots
What a Humanoid Robot Costs to Build, Part by Part
Actuators are 40 % to 55 % of the bill of materials, and a full-size humanoid has 25 to 45 of them. Published list prices span a factor of...
Humanoids and Legged Robots
Every Serious Humanoid Programme, Compared
Roughly a dozen humanoid programmes have hardware in customer hands. The honest picture: payloads cluster at 16 to 25 kg, runtimes at 2 to...
Humanoids and Legged Robots
Humanoids Have No Safety Standard Yet. What Now?
There is no published standard for a free-walking humanoid working near people. ISO 10218 covers industrial robots in a defined workspace,...
Humanoids and Legged Robots
Teleoperation: How Humanoid Training Data Is Collected
Almost all humanoid manipulation policies are trained on human demonstrations, captured by a person driving the robot or wearing a rig. A...
Humanoids and Legged Robots
Quadruped vs Wheeled Robots for Plant Inspection
Count the steps and the grating. If the inspection route has neither, a wheeled or tracked platform does the same job at roughly a third of...
Humanoids and Legged Robots
Robot Hands: How Many Degrees of Freedom Are Enough?
For industrial handling, 1 degree of freedom is usually enough: a parallel gripper covers the overwhelming majority of grasps. Useful...