Loong: An Open-Source Platform for Full-Size Universal Humanoid Robot Toward Better Practicality.

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.