提出优化仿人机器人踝关节设计的统一方法，提升地面交互性能。
A Framework for Optimal Ankle Design of Humanoid Robots
- 通过多目标优化确定并联踝关节几何结构
- 新设计使成本函数降低41%，优于原有串行与常规设计
- 适用于需高效稳定行走的仿人机器人研发
仿人机器人踝关节设计对安全高效的地面交互至关重要。机械柔顺性与电机质量分布推动了并联机构架构的应用，但最优配置取决于执行器可用性与任务需求。本文提出一种统一的并联踝关节设计与评估方法：通过多目标优化确定机构几何，采用标量代价函数综合关键性能指标进行跨架构比较。重点研究两类典型结构：球-棱柱-万向（SPU）与转子-球-万向（RSU）。对两者完成运动学求解，对RSU引入参数化方法以保证工作空间可行性并加速优化。通过重构现有仿人机器人踝关节验证该方法，优化后的RSU在各项指标上均显著优于原始串行设计和传统工程设计，代价函数最高降低41%和14%。
原文摘要 · Abstract (English)
The design of the humanoid ankle is critical for safe and efficient ground interaction. Key factors such as mechanical compliance and motor mass distribution have driven the adoption of parallel mechanism architectures. However, selecting the optimal configuration depends on both actuator availability and task requirements. We propose a unified methodology for the design and evaluation of parallel ankle mechanisms. A multi-objective optimization synthesizes the mechanism geometry, the resulting solutions are evaluated using a scalar cost function that aggregates key performance metrics for cross-architecture comparison. We focus on two representative architectures: the Spherical-Prismatic-Universal (SPU) and the Revolute-Spherical-Universal (RSU). For both, we resolve the kinematics, and for the RSU, introduce a parameterization that ensures workspace feasibility and accelerates optimization. We validate our approach by redesigning the ankle of an existing humanoid robot. The optimized RSU consistently outperforms both the original serial design and a conventionally engineered RSU, reducing the cost function by up to 41% and 14%, respectively.
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