Fast Prototyping and Testing of a New Full Scale Bipedal Robot

摘要

Building a humanoid robot represents a big technological and scientific challenge due to its complexity, cost, time requirements and other issues. In this paper, we present the development of a low cost and fast prototyping new bipedal robot with 12 DOFs. The lower limb structure of the robot, tall 1.1 m and with a weight of only 14 kg, was physically assembled by our research team optimizing the cost and duration of the work. To reduce the cost and weight of the system, we developed a high power-to-weight ratio servomotor capable to generate up to 200 W of mechanical power.