Humanoid robots: Change accelerates, commercialization begins

Humanoid robot: also known as humanoid robot, is an advanced platform for the study of human intelligence, and is a complex intelligent machine that integrates machinery, electronics, sensors, control technology, artificial intelligence, bionics and other disciplines. The essence of “humanoid” is that such advanced robots have humanoid perception, decision-making, behavior and interaction capabilities, that is, humanoid robots not only need to have humanoid form and appearance, humanoid perception and sensory functions, humanoid brain thinking and control capabilities, but also need to have “humanoid characteristics” of behavior. The basic embodiment of this feature is the level of balance and control ability of humanoid bipedal movement.

UFC721BE101-3BHE021889R0101 Technology is constantly changing. The first humanoid robot was developed by Ichiro Kato and iterated to the latest humanoid robots, such as Tesla “Optimus Prime”, and the technical route has been iterated many times. In the 21st century, robots are moving toward artificial intelligence, with autonomous path planning and walking capabilities, and rely on more diverse sensors to perceive the outside world, and the motion system is further iterated to a higher degree of integration, while equipped with drivers, motors and sensors.

Humanoid robot commercialization has begun, such as Tesla, Youbi, Yushu Technology and other humanoid robot manufacturers have released new commercial progress. Tesla released an update video on Optimus on May 5, demonstrating its ability to sort batteries, walk, and perform factory tasks. The industrial version of the humanoid robot Walker S in the new energy plant training; On April 27, the general humanoid robot mother platform “Tiangong” was officially released to achieve a stable running speed of 6km/h. Yushu Technology: May 13 announced the release of Unitree G1, priced from 99,000 yuan.

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Joint actuators: the core moving parts of humanoid robots

UFC721BE101-3BHE021889R0101 An actuator is a mechanical or electromechanical device that provides controlled and limited movement or positioning and is operated with the help of a number of fluids, including linear and rotary actuators. Categories: Linear actuators, rotary actuators. 1) Linear actuators: Convert energy into linear motion, mainly for positioning applications, usually with push-pull functions. 2) Rotary actuator: move at an Angle relative to the midpoint (i.e. along the circle). In its simplest form, the linear actuator is an extension of the rotary actuator, containing an additional motion converter that converts the rotary motion to linear motion. Ball screw, roller screw, belt and pulley, rack and pinion can convert rotation into linear motion. High technological barriers. Manufacturing precision motion control products requires high-precision process equipment and a lot of process accumulation.

Take Tesla as an example, “Optimus Prime” torso contains 28 joint actuators, involving two categories of rotation and linear, parts including reducer, lead screw, motor, sensor and so on. According to the AI Day release, body actuators: 6 (3 rotary actuators and 3 linear actuators), a total of 28 actuators, capable of achieving 28 degrees of freedom. Hand (one hand) : 6 actuators and 11 degrees of freedom, ergonomic design. The preliminary scheme of joint actuator: mainly involves motor, harmonic reducer (rotating joint), ball/roller screw (linear joint), sensor, etc., because it is integrated on the joint of the same size as people, so the performance and size of the parts are put forward higher requirements.

According to the design objectives and application scenarios of the robot, select different parts and configuration schemes. The joint actuators of humanoid robots will have different focuses in the design, including but not limited to load capacity, accuracy, speed, weight, cost, etc. Take the reducer and the lead screw as an example: 1) In order to improve the torque output, the actuator is usually used with the reducer. Common retarders are harmonic wave retarder, planetary retarder, RV retarder and so on. The current Tesla Optimus is equipped with a harmonic reducer. Other manufacturers may choose a planetary reducer or other type of reducer according to different torque and space requirements. 2) In the linear drive, the lead screw is the key component that converts the rotating motion to the linear motion. Ladder screw, ball screw and roller screw are the more common choices, manufacturers may choose different types of screw according to different parts of the bearing capacity, accuracy and other requirements. In addition, the number of joints is key to achieving these degrees of freedom, and each joint usually provides at least one degree of freedom. The design of degrees of freedom needs to match the expected application scenarios of humanoid robots.