Design and development of humanoid robot ZERO

This paper overviews the mechanics of humanoid robot ZERO. ZERO is a bipedal walking platform with 21 degrees of freedom (DOF) powered by servomotors that perform reliable torque and precise motion. Made entirely from aluminum, it is lightweight (5.5 kg) and compact (height: 60 cm, width: 33 cm) while strong and robust. ZERO is capable of moving forward, backward, sideway, it can turn in any direction, lie down, and get up. In addition, ZERO performs object tracking and recognition using an on-board video camera. The primary motivation behind this project is to create our own platform for research into bipedal walking and control. In this paper, the design, implementation, and mechanical analysis of this prototype are presented and discussed.