Lightweight mechatronic system for humanoid robot

Jaesik Jeong, Jeehyun Yang, Guilherme Henrique Galelli Christmann, Jacky Baltes*

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review


This paper presents the technical specifications of a lightweight humanoid robot platform named Robinion Sr. including its mechanical and electrical design. We describe a versatile and robust mechatronic system, efficient walking gait, and software architecture of the humanoid robot. The humanoid robot platform is targeted for use in a range of applications, including research and development, competitions, and the service industry. A reduced platform cost was an essential consideration in our design. We introduce a specialized and inexpensive mechanical design, which includes a parallel-kinematics leg design, external gears, and low-cost controllers and sensors. The humanoid robot is equipped with an efficient electronic structure and a tablet computer for task scheduling, control, and perception, as well as an embedded controller for solving forward & inverse kinematics and low-level actuator control. The perception system recognizes objects at real-time inference with Deep Learning-based detection algorithms without a dedicated GPU. We present and evaluate the capabilities of our newly developed advanced humanoid robot and believe it is a suitable platform for the academic and industrial robotics community.

Original languageEnglish
Article numbere5
JournalKnowledge Engineering Review
Issue number2
Publication statusPublished - 2023 Jun 1

ASJC Scopus subject areas

  • Software
  • Artificial Intelligence


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