Design of a biomimetic upper body for the humanoid robot Robota

This paper presents the current prototype of doll-shaped humanoid robot Robota. The use of the robot Robota as part of studies with disabled children sets a number of constraints on its design. In particular, it requires that the robot bears a human likeness both in its body features and in the kinematics of its motions. In this paper, we present the design of a 23 degrees of freedom upper body for Robota, including a 3 DOFs spine, two 7 DOFs arm, a 3 DOFs pair of eyes and a 3 DOFs neck