DARwIn’s evolution: development of a humanoid robot

Abstract

The Dynamic Anthropomorphic Robot with Intelligence (DARwIn), a humanoid robot, is a sophisticated hardware platform used for studying bipedal gaits that has evolved over time. Three version of DARwIn have been developed, each an improvement on its predecessor. The first version, DARwIn 0.0, was used as a design study to determine the feasibility of creating a small-scale humanoid robot. The second version, DARwIn 1.0, used improved gaits and software. The third version, DARwIn 2.0 has not only even better gaits and control software, but also has artificial intelligence. The platform is primarily used as a research tool for studying bipedal and humanoid locomotion. Additionally, DARwIn 2.0 has been tailored for the international autonomous robot soccer competition, Robocup.