Alternative actuation and larger-scale humanoid implementations

Investigate alternative actuation mechanisms, including tendon-driven actuation, and larger-scale implementations of the BRIDGE humanoid platform to improve morphology, workspace, and payload capacity.

Background

The BRIDGE platform relies exclusively on rotary motors, which constrains joint volume and keeps motor mass in the limbs. The authors identify tendon-driven mechanisms as a possible way to further optimize the robot morphology by reducing joint volume and relocating motor mass away from the limbs.

Although the compact 88 cm platform improves accessibility, its small scale limits workspace and payload capacity for complex manipulation tasks. The paper therefore leaves the exploration of alternative actuation and larger-scale humanoid implementations unresolved.