During the design phase several criteria have been taken into account. First of all the machine's structure had to be lightweight and easy to assemble, eliminating complex gearing and connecting mechanisms. A second criterion was to have a test bed which should allow to make changes during the experimental period and this especially regarding the muscle connections since these determine torque characteristics.
The bipedal robot, all included, weighs about 28,2kg and is 150cm tall.
The structure is made of a high grade aluminium alloy, AlSiMg1, and is composed of two legs and an upper body. The legs are identical, each having a foot, a lower leg and an upper leg. All parts are connected by one-dimensional pin joints creating the ankle, knee and hip. The hip is connected to a horizontal and vertical sliding mechanism by means of a seventh pin joint to avoid turning over in the frontal plane.