Design of an autonomous humanoid robot

Abstract

This paper describes the design of an autonomous humanoid robot. The robot itself is currently under construction, however the process of designing the robot has revealed much about the considerations for creating a robot with humanoid shape. The mechanical design is a complete CAD solids model, with specific motors and transmission systems selected. The electronic design of a distributed control system is also complete, along with the electronics for power and sensor processing. A high fidelity graphical simulator has been developed, providing important early feedback on critical design decisions. 1