Lightweight mechatronic system for humanoid robot

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