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Bibliometric Analysis of Humanoid Robot Joint Modules: Structural, Control, Interaction and Biomimetic

lssue 2, Volume 3
Part of Special Issue Emerging Technologies and Applications in Intelligent Manufacturing
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Bibliometric Analysis of Humanoid Robot Joint Modules: Structural, Control, Interaction and Biomimetic

Changhe Ji 1 Jingjie Dai 2 Yusuf Suleiman Dambatta 2,3 Guang Wang 4 Guohao Jiang 5 Dezhi He 5 Xianfeng Zhao 6 Shouhai Chen 6 Kaixu Zhang 7 Yihang Fan 8 Huhu Wang 9 Xing Zhao 10 Xiaoming Wang 1,11 Xiaohan Sun 1 Changhe Li 1,11,*

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1
Key Laboratory of Industrial Fluid Energy Conservation and Pollution Control (Ministry of Education), Qingdao University of Technology, Qingdao 266520, China
2
School of Mechanical and Electrical Engineering, Qingdao Binhai University, Qingdao 266555, China
3
Department of Mechanical Engineering, Ahmadu Bello University, Zaria 810001, Kaduna State, Nigeria
4
Guohua (Qingdao) Intelligent Precision Drive Control Technology Research Institute Co., Ltd., Qingdao 266520, China
5
Qingdao Hisense Hitachi Air-Conditioning Systems Co., Ltd., Qingdao 266700, China
6
Hisense Air-Conditioning Co., Ltd., Qingdao 266736, China
7
MH Robot & Automation Co., Ltd., Weifang 262200, China
8
School of Mechatronic Engineering, ChangChun University of Technology, ChangChun 130012, China
9
College of Food Science and Technology, Nanjing Agricultural University, Nanjing 210095, China
10
Hisense Refrigerator Co., Ltd., Qingdao 266736, China
11
Qingdao Jimo Qingli Intelligent Manufacturing Industry Research Institute, Qingdao 266205, China
*
Authors to whom correspondence should be addressed.

Received: 08 June 2026 Revised: 09 July 2026 Accepted: 28 July 2026 Published: 10 August 2026

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© 2026 The authors. This is an open access article under the Creative Commons Attribution 4.0 International License (https://creativecommons.org/licenses/by/4.0/).

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Intell. Sustain. Manuf. 2026, 3(2), 10019; DOI: 10.70322/ism.2026.10019
ABSTRACT: As an intelligence paradigm, embodied intelligence emphasizes that intelligent capabilities emerge from the dynamic interaction between an intelligent agent and its physical embodiment, and are realized through a continuous closed-loop process integrating perception, decision-making, action, and feedback. With the rapid development of embodied intelligence, humanoid robots have become increasingly important in intelligent manufacturing, service, and human-robot collaboration. Joint modules, as the core units responsible for perception, decision-making, and actuation, determine the motion performance, interaction capability, and intelligence level of humanoid robots. Research directions in this field remain fragmented, technological pathways are diverse, and systematic summaries of evolutionary patterns are lacking. First, publication trends, country and institutional collaboration networks, and major research contributors were analyzed. Research on humanoid robot joint modules has entered a phase of rapid growth since 2018, indicating a shift from early exploratory studies toward engineering and large-scale applications. Second keyword co-occurrence, clustering analysis, and burst detection were used to identify research hotspots and evolutionary features, research focus gradually shifted from traditional electromechanical actuation to compliant actuation, intelligent control, multimodal perception, and embodied intelligence. Furthermore, key technologies of joint modules were systematically summarized and reviewed from four aspects: structural design and performance optimization, motion control, human-robot interaction, and biomimetic actuation for human-like performance enhancement. Joint modules gradually evolved toward structural integration, intelligent control, natural interaction, and human-like system characteristics. Technical bottlenecks in current humanoid robot joint modules were analyzed, and future research directions were proposed to provide technical support and theoretical guidance for both industrial applications and academic research in humanoid robotics.
Keywords: Humanoid robot; Joint module; Structural design; Motion control; Human-robot interaction; Biomimetic actuation
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