A Semi-Minimalistic Approach to Humanoid Design

Locomotion of a Humanoid robot with lesser number of actuators is a choice of interest, as it leads to energy efficient design. This paper put emphasis on design of a humanoid robot with minimal actuation, minimal control and minimum development cost. It describes, design considerations and methods used for balancing and walking gait generation of a Humanoid Robot with 8 Degrees of Freedom. The proposed robot finds the place in between most sophisticated, complex humanoid robots and simple, miniaturized humanoids.