Authors : Dr. A. S. Shirkande; Kharche Vaishnavi Balaji; Chavan Suhani Ashok; Devkate Shubham Bhimrav

Volume/Issue : Volume 11 - 2026, Issue 10 - October

Google Scholar : https://tinyurl.com/mw6etffe

DOI : https://doi.org/10.38124/ijisrt/26Oct469

Note : A published paper may take 4-5 working days from the publication date to appear in PlumX Metrics, Semantic Scholar, and ResearchGate.

Abstract : Humanoid and rehabilitationoriented robotic legs are increasingly expected to respond to natural, hands-free user intent while remaining low-cost, private and safe. This survey reviews four recent works that, taken together, cover the main building blocks of a voicecommanded humanoid leg: (i) an offline, privacy-preserving voice-to-motion framework that couples Vosk speech recognition, tolerant command matching and forward-kinematics (FK) motion generation [1]; (ii) a servo-driven threejoint robotic leg with inverse-kinematics (IK) control and measured joint-angle accuracy [2]; (iii) a human-scale electric single-leg robot with an actuated toe and co-actuation, emphasising power electronics, actuator identification and balance control [3]; and (iv) a decoupledactuation humanoid leg evaluated with a new swing-time metric [4].

Keywords : Humanoid Robotic Leg, Offline Voice Control, Forward Kinematics, Inverse Kinematics, STM32, ESP32, MPU6050, Servo Actuation, Obstacle Avoidance, Survey.

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