Biped robot "ROTTO": Design, simulation, experiments

The paper deals with designing and developing a biped robot for research purposes. Robot's mechanical structure and drives system are described hereunder in details. Moreover the new modified actuators as well as the possibility to the stabilization of robot with serial elasticity in the joints are discussed. An industrial Ethernet-based real-time communication protocol is introduced and the communication ability between the robot-side hardware and PC-side control system is investigated.