TEO: Full-Size Humanoid Robot Design Powered by a Fuel Cell System Articles uri icon

publication date

  • March 2012

start page

  • 163

end page

  • 180


  • 3


  • 43

International Standard Serial Number (ISSN)

  • 0196-9722

Electronic International Standard Serial Number (EISSN)

  • 1087-6553


  • This article deals with the design of the full-size humanoid robot TEO, an improved version of its predecessor Rh-1. The whole platform is conceived under the premise of high efficiency in terms of energy consumption and optimization. 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, together with its link configuration and rigidity, will be optimized. Experimental results are presented to show the validity of the design.


  • Robotics and Industrial Informatics


  • energy consumption; humanoid robot design; lower body improvement