Aesthetic design and development of humanoid legged robot

Mathew Schwartz, Soonwook Hwang, Yisoo Lee, Jongseok Won, Sanghyun Kim, Jaeheung Park

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Scopus citations


This paper presents a new full sized humanoid leg robot that combines aesthetics and design theory with practical research goals in robotics. The research goal of the robot is to create human-like and compliant motion in multiple contact situations through the use of torque controlled joints. Low gear ratio and direct connections are used at each joint for low-friction and back-drivability but without explicit joint torque sensors. On the other hand, in creating human-like motions, not only technical specifications but also aesthetic design is important as the same performance of the robot can be perceived very differently depending on the design. The aesthetic design is, in this paper, achieved by the robot design process using an integrated design and frame through multi-axis CNC machining. The unique integration of the frame and design also drastically reduces parts and complexity of assembly for easy maintenance. In this paper, the design process and features are presented with range of motion, weight, and key aesthetic decisions. Compliant motion capability is demonstrated by experimental results.

Original languageEnglish (US)
Title of host publication2014 IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014
PublisherIEEE Computer Society
Number of pages7
ISBN (Electronic)9781479971749
StatePublished - Feb 12 2015
Event2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014 - Madrid, Spain
Duration: Nov 18 2014Nov 20 2014

Publication series

NameIEEE-RAS International Conference on Humanoid Robots
ISSN (Print)2164-0572
ISSN (Electronic)2164-0580


Other2014 14th IEEE-RAS International Conference on Humanoid Robots, Humanoids 2014

All Science Journal Classification (ASJC) codes

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Hardware and Architecture
  • Human-Computer Interaction
  • Electrical and Electronic Engineering


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