Humanoid and other legged robots are highly complex machines and require careful consideration of the proper techniques and approaches when developing their mechanical and mechatronic system. Researchers have identified critical design considerations and strategies for building legged robots. However, there are additional factors that are equally important but received less attention for research such as structural compliance, joint backlash and even mechanical longevity. Another aspect of legged robot design is that designers make a series of decisions throughout the iterative development process. For example, designers employ various design rules and prioritize certain aspects of design to efficiently tackle problems across layers of the design process. However, it is unclear how these decisions affect system performance, and at which point of downstream design to make design choices. As a result, the procedure of robot design is considered more an engineering challenge than a scientific research problem.

A proper analysis of design decisions and identifying major design considerations will serve as stepping stones for better design of complex systems such as humanoid robots. This workshop, “Design Considerations for the Development of Reliable Humanoid Robots” aims to invite speakers with experience in robot design and share their insights and knowledge as an initiative towards the science of robotic hardware design. We will discuss a vast range of design considerations not limited to morphology of limbs and joints, actuation design, mechatronics, communications protocols, control co-design, etc. Moreover, we will develop scientific discussion on hardware design of legged robots: how specific design decisions affect overall system performance, how specific performance requirements can constrain the design space and decisions, when or where in the design process to employ design rules, and techniques used to evaluate design decisions based on desired performance.

Topics of interest for this workshop are:

• General mechanical design of humanoid robots

• Passive components (series/parallel spring), additional actuation (waist, toe), parallel actuation

• Design of joints and linkages to achieve high ranges of motions

• Importance and design of low-backlash joints

• Co-Design / parallel engineering of mechatronics and controls

• Data-driven approaches / pipelines

• Iterative design / optimization

• Actuation selection and design

• How to specify design objectives for the whole robot?

• What role will soft robotics play in the future of humanoids?

• Sensor selection and electrical system characterization

• Materials selection for weight, stiffness, and durability

• What is the importance of the right connector selection, and how do you do it?

For a more detailed description, please click the topics tab at the top of the page. If you believe you have late breaking results or would like to contribute to the discussion of these topics, please click the contribute button at the top of the page and submit your results by November 24th for potential inclusion in the poster session!