{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,9,11]],"date-time":"2026-09-11T17:23:06Z","timestamp":1789147386490,"version":"build-2803163510"},"reference-count":51,"publisher":"Wiley","issue":"1","license":[{"start":{"date-parts":[[2025,12,20]],"date-time":"2025-12-20T00:00:00Z","timestamp":1766188800000},"content-version":"vor","delay-in-days":0,"URL":"http:\/\/onlinelibrary.wiley.com\/termsAndConditions#vor"},{"start":{"date-parts":[[2025,12,20]],"date-time":"2025-12-20T00:00:00Z","timestamp":1766188800000},"content-version":"tdm","delay-in-days":0,"URL":"http:\/\/doi.wiley.com\/10.1002\/tdm_license_1.1"}],"content-domain":{"domain":["nyaspubs.onlinelibrary.wiley.com"],"crossmark-restriction":true},"short-container-title":["Ann NY Acad Sci"],"published-print":{"date-parts":[[2026,2]]},"abstract":"<jats:title>ABSTRACT<\/jats:title>\n                  <jats:p>Humanoid robots operating in unstructured environments and under high\u2010load conditions commonly face challenges such as limited locomotion performance and the difficulty of balancing structural strength with weight reduction. This study proposes a novel bio\u2010inspired electro\u2010hydraulic humanoid robot that incorporates a parametric dynamic model based on the coupled muscle\u2013tendon\u2013bone characteristics of the human hip\u2013knee\u2013ankle complex. Leveraging a custom\u2010designed, reverse\u2013inverse kinematics framework, the leg morphology and electro\u2010hydraulic actuator parameters are co\u2010optimized to enhance agility and obstacle\u2010crossing capabilities. To simultaneously ensure structural strength and mass control, honeycomb structures are designed for the leg components, achieving functional lightweighting while preserving balanced strength across different directions. Simulation analyses demonstrate that a 21.28% weight reduction is attainable while maintaining comparable out\u2010of\u2010plane equivalent elastic and shear moduli relative to the original structure, thus meeting the demands of complex loading and impact conditions. Experimental tests confirm that the robot exhibits robust environmental adaptability and stable locomotion during high\u2010speed running at 10\u00a0km\/h and obstacle traversal over 300\u00a0mm. The findings validate the effectiveness of the proposed configuration and bio\u2010inspired strategy, providing theoretical support and an engineering paradigm for structural optimization and system integration in high\u2010performance humanoid robots under complex task scenarios.<\/jats:p>","DOI":"10.1111\/nyas.70175","type":"journal-article","created":{"date-parts":[[2025,12,20]],"date-time":"2025-12-20T10:10:04Z","timestamp":1766225404000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":3,"title":["Investigation of Musculoskeletal\u2010Inspired Architecture and Honeycomb Lightweight Design for Electro\u2010Hydraulic Humanoid Robot Legs"],"prefix":"10.1111","volume":"1556","author":[{"given":"Hao","family":"Zhu","sequence":"first","affiliation":[{"name":"College of Engineering Nanjing Agricultural University  Nanjing China"},{"name":"Institute of Intelligent Manufacturing Technology  Nanjing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Minzhou","family":"Luo","sequence":"additional","affiliation":[{"name":"Institute of Intelligent Manufacturing Technology  Nanjing China"},{"name":"School of Mechanical Engineering Hohai University  Nanjing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zigui","family":"Lv","sequence":"additional","affiliation":[{"name":"Institute of Intelligent Manufacturing Technology  Nanjing China"},{"name":"School of Mechanical Engineering Hohai University  Nanjing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Yan","family":"Luo","sequence":"additional","affiliation":[{"name":"Institute of Intelligent Manufacturing Technology  Nanjing China"},{"name":"School of Mechanical Engineering Shanghai Jiao Tong University  Shanghai China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ju","family":"Li","sequence":"additional","affiliation":[{"name":"Institute of Intelligent Manufacturing Technology  Nanjing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Ruikai","family":"Liu","sequence":"additional","affiliation":[{"name":"College of Engineering Nanjing Agricultural University  Nanjing China"},{"name":"Institute of Intelligent Manufacturing Technology  Nanjing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Pengfei","family":"Lv","sequence":"additional","affiliation":[{"name":"College of Engineering Nanjing Agricultural University  Nanjing China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Jinlin","family":"Xue","sequence":"additional","affiliation":[{"name":"College of Engineering Nanjing Agricultural University  Nanjing China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"311","published-online":{"date-parts":[[2025,12,20]]},"reference":[{"key":"e_1_2_11_2_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3324580"},{"key":"e_1_2_11_3_1","doi-asserted-by":"publisher","DOI":"10.3390\/biomimetics9100628"},{"key":"e_1_2_11_4_1","doi-asserted-by":"publisher","DOI":"10.1142\/S0219843623500305"},{"key":"e_1_2_11_5_1","doi-asserted-by":"crossref","unstructured":"J.Reher W.\u2010L.Ma andA. D.Ames \u201cDynamic Walking With Compliance on a Cassie Bipedal Robot \u201d in2019 18th European Control Conference (ECC)(IEEE 2019) https:\/\/doi.org\/10.23919\/ECC.2019.8796090.","DOI":"10.23919\/ECC.2019.8796090"},{"key":"e_1_2_11_6_1","doi-asserted-by":"crossref","unstructured":"Y.Gong R.Hartley X.Daet\u00a0al. \u201cFeedback Control of a Cassie Bipedal Robot: Walking Standing and Riding a Segway \u201d in2019 American Control Conference (ACC)(IEEE 2019) https:\/\/doi.org\/10.23919\/ACC.2019.8814833.","DOI":"10.23919\/ACC.2019.8814833"},{"key":"e_1_2_11_7_1","doi-asserted-by":"publisher","DOI":"10.1109\/JAS.2023.124140"},{"key":"e_1_2_11_8_1","doi-asserted-by":"publisher","DOI":"10.1109\/TMECH.2025.3561597"},{"key":"e_1_2_11_9_1","doi-asserted-by":"publisher","DOI":"10.3390\/s22124440"},{"issue":"3","key":"e_1_2_11_10_1","first-page":"1","article-title":"Research Status and Development Trend of Electro\u2010hydraulic Actuators for Robots","volume":"60","author":"Zhang J.","year":"2024","journal-title":"Journal of Mechanical Engineering"},{"key":"e_1_2_11_11_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2024.3475047"},{"key":"e_1_2_11_12_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2023.3236952"},{"key":"e_1_2_11_13_1","doi-asserted-by":"crossref","unstructured":"Y.Xie J.Wang H.Dong X.Ren L.Huang andM.Zhao \u201cDynamic Balancing of Humanoid Robot Walker3 With Proprioceptive Actuation: Systematic Design of Algorithm Software and Hardware \u201darXiv(2021) https:\/\/doi.org\/10.48550\/arXiv.2108.03826.","DOI":"10.3390\/mi13091458"},{"key":"e_1_2_11_14_1","doi-asserted-by":"publisher","DOI":"10.1242\/jeb.152538"},{"key":"e_1_2_11_15_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2020.2976597"},{"key":"e_1_2_11_16_1","doi-asserted-by":"crossref","unstructured":"M.Bolignari A.Mo M.Fontana andA.Badri\u2010Spr\u00f6witz \u201cDiaphragm Ankle Actuation for Efficient Series Elastic Legged Robot Hopping \u201darXiv(2022) https:\/\/doi.org\/10.48550\/arXiv.2203.01595.","DOI":"10.1109\/IROS47612.2022.9981060"},{"key":"e_1_2_11_17_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364916648388"},{"key":"e_1_2_11_18_1","doi-asserted-by":"crossref","unstructured":"S.Rezazadeh C.Hubicki M.Joneset\u00a0al. \u201cSpring\u2010Mass Walking With ATRIAS in 3D: Robust Gait Control Spanning Zero to 4.3 KPH on a Heavily Underactuated Bipedal Robot \u201d inProceedings of theASME 2015 Dynamic Systems and Control Conference(ASME Publishing 2015) https:\/\/doi.org\/10.1115\/DSCC2015\u20109899.","DOI":"10.1115\/DSCC2015-9899"},{"key":"e_1_2_11_19_1","doi-asserted-by":"publisher","DOI":"10.1177\/0278364916648388"},{"key":"e_1_2_11_20_1","doi-asserted-by":"publisher","DOI":"10.1109\/LRA.2021.3066833"},{"key":"e_1_2_11_21_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2022.105029"},{"key":"e_1_2_11_22_1","doi-asserted-by":"publisher","DOI":"10.3389\/fnbot.2021.620928"},{"key":"e_1_2_11_23_1","doi-asserted-by":"publisher","DOI":"10.1115\/1.4025693"},{"key":"e_1_2_11_24_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2005.02.002"},{"key":"e_1_2_11_25_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2023.105448"},{"key":"e_1_2_11_26_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2024.3502192"},{"key":"e_1_2_11_27_1","doi-asserted-by":"publisher","DOI":"10.1007\/s42235\u2010023\u201000374\u20106"},{"key":"e_1_2_11_28_1","doi-asserted-by":"publisher","DOI":"10.1007\/s42235\u2010023\u201000429\u20108"},{"key":"e_1_2_11_29_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.addma.2022.102630"},{"key":"e_1_2_11_30_1","volume-title":"Research on Optimization Method of Leg Mechanical Structure Parameters for Hydraulic Quadruped Robots","author":"Du C.","year":"2024"},{"issue":"5","key":"e_1_2_11_31_1","first-page":"26","article-title":"Knee Joint Structure Design and Testing of Hydraulically Driven Lower Limb Assistive Exoskeleton Robot","volume":"33","author":"Jin X.","year":"2017","journal-title":"Transactions of the Chinese Society of Agricultural Engineering"},{"key":"e_1_2_11_32_1","volume-title":"Study on Equivalent Modulus and Mechanical Properties of Three\u2010Dimensional Secondary Self\u2010similar Honeycomb","author":"Huang Y.","year":"2024"},{"key":"e_1_2_11_33_1","volume-title":"Optimization Design of Enhanced Honeycomb Topology and Study on Large Deformation Mechanical Behavior","author":"Zhu W.","year":"2024"},{"key":"e_1_2_11_34_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2024.3508932"},{"key":"e_1_2_11_35_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2022.3231360"},{"key":"e_1_2_11_36_1","doi-asserted-by":"publisher","DOI":"10.1093\/jbmr\/zjaf019"},{"key":"e_1_2_11_37_1","volume-title":"Parameter Design and Gait Control Algorithm Research for Biped Robots","author":"Leng X.","year":"2020"},{"key":"e_1_2_11_38_1","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2024.3492374"},{"key":"e_1_2_11_39_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2024.105832"},{"key":"e_1_2_11_40_1","volume-title":"Research on Disturbance Rejection Control and Trajectory Optimization Methods for Hydraulically Driven Biped Robots Based on Model Predictive and Direct Collocation Methods","author":"Huang J.","year":"2023"},{"key":"e_1_2_11_41_1","doi-asserted-by":"publisher","DOI":"10.1109\/TED.2016.2628402"},{"key":"e_1_2_11_42_1","doi-asserted-by":"crossref","unstructured":"G.Xiao J.Zeng Y.Jia Z.Xu andX.Luo \u201cDesign of a Humanoid Robot Leg With Ankle\u2010Knee Parallel Mechanism \u201d in2024 IEEE International Conference on Robotics and Biomimetics (ROBIO)(IEEE 2024) https:\/\/doi.org\/10.1109\/ROBIO64047.2024.10907561.","DOI":"10.1109\/ROBIO64047.2024.10907561"},{"key":"e_1_2_11_43_1","doi-asserted-by":"crossref","unstructured":"H.Zhao L.Yu S.Qin G.Jin andY.Chen \u201cDesign and Control of a Bio\u2010Inspired Wheeled Bipedal Robot \u201d inIEEE\/ASME Transactions on Mechatronics(IEEE 2024) https:\/\/doi.org\/10.1109\/TMECH.2024.3449397.","DOI":"10.1109\/TMECH.2024.3449397"},{"key":"e_1_2_11_44_1","volume-title":"Research on Humanoid Walking Robots Driven by Series\u2010parallel Artificial Muscles","author":"Zhao S.","year":"2023"},{"key":"e_1_2_11_45_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2012.02.009"},{"key":"e_1_2_11_46_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2021.104346"},{"key":"e_1_2_11_47_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2023.105500"},{"key":"e_1_2_11_48_1","doi-asserted-by":"publisher","DOI":"10.1142\/S0219519413400162"},{"key":"e_1_2_11_49_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2021.104545"},{"key":"e_1_2_11_50_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2021.104637"},{"key":"e_1_2_11_51_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2022.104835"},{"key":"e_1_2_11_52_1","doi-asserted-by":"publisher","DOI":"10.1016\/j.mechmachtheory.2023.105493"}],"container-title":["Annals of the New York Academy of Sciences"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/nyaspubs.onlinelibrary.wiley.com\/doi\/pdf\/10.1111\/nyas.70175","content-type":"application\/pdf","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/nyaspubs.onlinelibrary.wiley.com\/doi\/full-xml\/10.1111\/nyas.70175","content-type":"application\/xml","content-version":"vor","intended-application":"text-mining"},{"URL":"https:\/\/nyaspubs.onlinelibrary.wiley.com\/doi\/pdf\/10.1111\/nyas.70175","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2026,4,29]],"date-time":"2026-04-29T16:11:36Z","timestamp":1777479096000},"score":1,"resource":{"primary":{"URL":"https:\/\/nyaspubs.onlinelibrary.wiley.com\/doi\/10.1111\/nyas.70175"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[2025,12,20]]},"references-count":51,"journal-issue":{"issue":"1","published-print":{"date-parts":[[2026,2]]}},"alternative-id":["10.1111\/nyas.70175"],"URL":"https:\/\/doi.org\/10.1111\/nyas.70175","archive":["Portico"],"relation":{"has-review":[{"id-type":"doi","id":"10.1111\/NYAS.70175\/v1\/review1","asserted-by":"object"},{"id-type":"doi","id":"10.1111\/NYAS.70175\/v1\/review2","asserted-by":"object"},{"id-type":"doi","id":"10.1111\/NYAS.70175\/v1\/decision1","asserted-by":"object"}]},"ISSN":["0077-8923","1749-6632"],"issn-type":[{"value":"0077-8923","type":"print"},{"value":"1749-6632","type":"electronic"}],"subject":[],"published":{"date-parts":[[2025,12,20]]},"assertion":[{"value":"2025-08-02","order":0,"name":"received","label":"Received","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-11-11","order":2,"name":"accepted","label":"Accepted","group":{"name":"publication_history","label":"Publication History"}},{"value":"2025-12-20","order":3,"name":"published","label":"Published","group":{"name":"publication_history","label":"Publication History"}}],"article-number":"e70175"}}