The Biped Humanoid
18 Degree of Freedom Walking Robot

LUCY, the biped humanoid robot, can walk balancing
autonomously. These kind of humanoid robots may be
generally used in robotics laboratories and robotics
classes.

LUCY has 18 DOF and it is humanoid robot that can
move its legs as well as arms. We developed biped robot
simulation S/W that can calculate the trajectories of each
part of robot and it transform the data to the 386 board to
achieve optimal walking pose.

The transmission of data is
done through RF communication and the two types of robot
control are available: Off-line (386 board controls robot)
control and on-line control (PC controls the robot
directly).