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A decimeter-scale humanoid robot is proposed and realized in this paper. The humanoid robot is fully autonomous in terms of sensing, processing and power supply. In addition, the robot has a low cost design. Sensing capabilities are provided by a camera and computer vision algorithms. Processing power is provided by a PC/104. Robot gait generation is based in sinusoid wave parameterization. The physical structure was built using a KHR-1 model as a base. With this equipment, the robot can manage itself in a controlled environment with obstacles, and find a route among them. The software components developed to manage the system are fully modular and layered, and all of them run in the PC/104. The robot can be monitored remotely by wireless radio link.