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In mechanical engineering, one-degree-of-freedom systems form the basis of a wide range of electrical and mechanical components. Using these models, engineers can predict the behavior of various parts in a larger system, which gives them insight into how different forces interact with each other.
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Related Experiment Video

Updated: Jan 10, 2026

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
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Loong: An Open-Source Platform for Full-Size Universal Humanoid Robot Toward Better Practicality.

Lei Jiang1,2,3, Heng Zhang2,3, Boyang Xing1,2,3

  • 1The National and Local Co-Build Humanoid Robotics Innovation Center, Shanghai 201203, China.

Biomimetics (Basel, Switzerland)
|November 26, 2025
PubMed
Summary

This study introduces Loong, a full-size humanoid robot utilizing biomimetic design for enhanced human-like movement and efficiency. Loong overcomes technical challenges, improving control and adaptability for real-world applications.

Keywords:
full-size humanoid robothuman-like designmodular system integrationmulti-level control architectureopen-source platform

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Area of Science:

  • Robotics
  • Biomimetics
  • Mechanical Engineering

Background:

  • Full-size humanoid robots face challenges like high inertia and complex integration, limiting practical use.
  • Existing designs struggle with biomimetic capabilities and control efficiency.

Purpose of the Study:

  • To develop a full-size humanoid robot platform, Loong, that overcomes limitations of current designs.
  • To enhance human-like movement, control efficiency, and system integration through biomimetic principles.

Main Methods:

  • Incorporated a biomimetic design approach inspired by biological structures and movement.
  • Developed highly biomimetic joint designs for enhanced human-like motion.
  • Implemented a multi-level control architecture and high-speed real-time communication mechanism.

Main Results:

  • Loong demonstrated enhanced human-like movements and improved control efficiency.
  • Modular system integration facilitated mass production, maintenance, and adaptability.
  • Experimental tests validated traversal of complex terrains (13 cm steps, 20° slopes) and object manipulation capabilities.

Conclusions:

  • The biomimetic approach provides a viable solution for full-size humanoid robot challenges.
  • Loong offers a new design paradigm, improving functionality and performance in dynamic environments.
  • This work contributes to the practical deployment of humanoid robots and future hardware platforms.