Lecture

Introduction to Humanoid Robots

06 Oct 2024 • Richard Kuo

Introduction to Humanoid Robots including Robotic Hand, Bipedal Robot, Robot Face, etc.

AI-Robots

Kepler Robot

Figure AI

Sanctuary AI

Component	DOF	Notes
Eyes	3	Independent vergence and common tilt
Head	3	The neck has three degrees of freedom to tilt,swing and pan
Chest	3	The torso can also tilt, swing and pan
Arms	7 (each)	The shoulder has 3 DoF, 1 in the elbow and three in the wrist
Hands	9	The hand has 19 joints coupled in various combinations: the thumb, index and middle finger are independent (coupled distal phalanxes), the ring and little finger are coupled. The thumb can additionally rotate over the palm.
Legs	6 (each)	6 DoF are sufficient to walk.

Ameca

Cloudminds Ginger XR-1

EX Robot

Sophia

Boston Dynamics

NASA’s Valkyrie

Valkyrie: NASA’s First Bipedal Humanoid Robot, 23 January 2015

Honda ASIMO in 2000

Robotic Hand

仿生機器人手指/機器人手掌/機械手爪

幻爾機器人手掌 uHand機械手指

駿威科技會動仿生智能機器人手掌

Design of an Underactuated Adaptive Robotic Hand with Force Sensing

A Systematic Approach to Evaluating and Benchmarking Robotic Hands - The FFP Index

The Dexterous Hands RH56BFX

Victoria Hand Project

Victoria Hand Features

Rotatable Thumb
Backlock Mechanism
Rotatable Wrist
Adaptive Grasp

Bipedal Robots

6-DOF Biped Robot

Paper: Control and Simulation of a 6-DOF Biped Robot based on Twin Delayed Deep Deterministic Policy Gradient Algorithm

IHMC Open Robotics Software

Tested Robots:

Robot Face

The Face Robot consists of 18 hydraulic actuators and 6 electrical motors to produce a large variety of facial expression based on FACS, the facial action coding system.