ArticleScientific reports2025
Development of a compliant spine mechanism for enhanced humanoid robotics locomotion.
Article in Scientific reports, 2025. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.
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The abstract states no effect estimate the extractor could read, or names no intervention and outcome on the map, so this paper lights no cell and moves no belief. It is still indexed, cited and linked below.
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Who cites it
1 citing paper in PubMed.
- From Biological Analogs to Robotic Embodiment: A Systematic Biomimetic Translation Framework Mediated by Traditional Craft.Biomimetics (Basel, Switzerland) · 2026Article
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2 authors.
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Abstract
Humanoid robots often employ rigid-trunk designs which limit locomotion capabilities and payload capacity. This paper presents a novel bio-inspired, tensegrity-based flexible spine mechanism designed to address these limitations. The design integrates a modular, multi-segment structure combining rigid struts and flexible TPU cables, creating a compliant, stable, and adaptable spine. We developed a novel dynamic model of this tensegrity-based spine to analyze its motion characteristics, providing detailed insights into its load-bearing capabilities and range of motion. Experimental results, obtained using a novel humanoid robot platform ("Flexinoid"), demonstrate improvements in locomotion performance. Furthermore, the design mitigates non-linear movement challenges, allowing for an enhanced range of flexion to -30°:65° and lateral bending by ± 30°. The experimental results confirm an increase in sensitivity and a decrease in the minimum detectable payload following the onset of motor back-driving, validating the effectiveness of the passive energy storage mechanism during initial loading. This enhancement in performance underscores the potential of this bio-inspired design for applications requiring precise control and high payload capacity. This research presents a novel approach to humanoid robot design, paving the way for more versatile and capable robots in various applications.
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