一款12.45公斤的三自由度跳跃机器人，可为双足机器人研发提供基础平台。
Design of a 3-DOF Hopping Robot with an Optimized Gearbox: An Intermediate Platform Toward Bipedal Robots
- 采用混合整数非线性规划优化齿轮齿形，设计紧凑型3K行星齿轮箱。
- 实测稳定重复跳跃，响应用户输入，验证了平台可行性。
- 专为人体下肢结构与电缆布局优化，适合双足机器人研究者使用。
本文介绍了一款具有类人下肢关节配置和扁平足的3自由度跳跃机器人，能够实现动态且重复的跳跃运动。为在有限空间内同时实现高扭矩输出和大中空轴径以优化电缆布线，采用混合整数非线性规划对齿轮齿形进行优化，设计出紧凑型3K复合行星齿轮箱。受限于关节几何空间，所有主要部件——包括执行器、电机驱动器和通信接口——均定制开发。机器人总重12.45公斤（含模拟质量），膝关节完全伸展时长840毫米。采用基于强化学习的控制器，通过硬件实验验证性能，结果表明其能稳定响应用户输入并实现重复跳跃。实验结果表明该平台为未来双足机器人开发提供了坚实基础。
原文摘要 · Abstract (English)
This paper presents a 3-DOF hopping robot with a human-like lower-limb joint configuration and a flat foot, capable of performing dynamic and repetitive jumping motions. To achieve both high torque output and a large hollow shaft diameter for efficient cable routing, a compact 3K compound planetary gearbox was designed using mixed-integer nonlinear programming for gear tooth optimization. To meet performance requirements within the constrained joint geometry, all major components-including the actuator, motor driver, and communication interface-were custom-designed. The robot weighs 12.45 kg, including a dummy mass, and measures 840 mm in length when the knee joint is fully extended. A reinforcement learning-based controller was employed, and robot's performance was validated through hardware experiments, demonstrating stable and repetitive hopping motions in response to user inputs. These experimental results indicate that the platform serves as a solid foundation for future bipedal robot development.
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