A full-sized humanoid leg robot that combines aesthetics and design theory with practical research goals in robotics.

The robot has human-like and compliant motion in multiple contact situations through the use of torque controlled joints. The aesthetic design is achieved by the robot design process using an integrated design and frame through multi-axis CNC machining.

DYROS Robot

Describes the design process and performance metrics of the design in terms of weight, strength, range of motion, visual cues, and accessibility. Experimental results demonstrate the performance of torque-controlled joints during gravity compensation.



Aesthetic design and development of humanoid legged robot.

Degrees of freedom (DOF)	

Total weight	

- Lower body	

- Upper body	

Low reduction ratio

50:1	

Sensors (above the foot and below the ankle motor)

Sensors (upper housing )

A full-sized humanoid leg robot that combines aesthetics and design theory with practical research goals in robotics.



Degrees of freedom (DOF)	12
Total weight	71.29	kg
- Lower body	40.24	kg
- Upper body	30.05	kg
Low reduction ratio	50:1
50:1	Intel I7-630m processor and 4Gbyte DDR3 RAM