Generally, it is because of the control of the humanoid. Basically, if the robot extends its legs extremely, then there is no method to compute the velocity of the knee joints, which would lead to the undesired huge velocity of the knee joints. In such a case, there will be a serious problem for the motors. So that's why almost all of the humanoid now feature a bend knee!
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Generally, it is because of the control of the humanoid. Basically, if
the robot extends its legs extremely, then there is no method to
compute the velocity of the knee joints, which would lead to the
undesired huge velocity of the knee joints. In such a case, there
will be a serious problem for the motors. So that's why almost all of
the humanoid now feature a bend knee!