Isaac project: development of an autonomous biped robo

This paper describes the design of a humanoid robot built in Politecnico di Torino by a group of students. Mechanical architecture and control algorithms are based on a preliminary research on human biped locomotion, adapted and tested using computer simulation; the result is an unusual design that should maximize performances. We designed dedicated electronic components and the software runs under a real time operative system to use the 100% of the on-board computer. The motors and the power supply are chosen to give a torque larger than needed in common walking.