Actuator selection and hardware realization of a small and fast-moving, autonomous humanoid robot

This paper discusses the design concept and system development of a small and relatively fast walking, autonomous humanoid robot with 17 degrees-of-freedom (DoF). The selection of motor size and gear ratios is based on numerical optimization of detailed multibody dynamics and optimal control corresponding to fast steps of the robot with an envisioned target speed of more than 0.5 m/s. In this paper the design considerations based on numerical optimal control studies and the mechanical realization of the robot are presented including first investigations on the achievable performance of a decentralized, microcontroller-based control architecture.