Technical specifications of Biped robot Gonzalez

Biped Robot Gonzalez leg up

Weight 18kg
Height 175cm
Power source Mains, 12 of 13Volt 10 Amp
Actuators 12 DC Motors, 8 of them 20Watt, 4 of them 90Watt
Locomotion capabilities Forwards backwards, sideways and climb up and down a 5cm high steps.
Sensors 12 potentiometers and two 2D force Sensor
Beginning and final dates of project October 1996 - May 2001
Estimated cost ~$30 000
Control system 2 level hierarchical control.