Full-size humanoid robot TEO: Design attending mechanical robustness and energy consumption

This paper deals with the design of the full size humanoid robot TEO (Task Environment Operator), an improved version of its predecessor RH-1. The whole platform is conceived under the premise of high efficiency in terms of mechanical robustness and energy consumption. We will focus mainly on the electromechanical structure of the lower part of the prototype, which is the main component demanding energy during motion. The dimensions and weight of the robotic platform have been optimized and an approach regarding the energy source is also tackled, consisting of a fuel cell. Experimental results are presented to show the validity of the design.