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One of the key ideas during the design was modularity which resulted in nearly the same configuration for each structural element, except for the foot, as shown in the picture below.
Each modular part contains two muscles with each of them a pressure control unit consisting of battery of valves with there electronic speed-up circuitry and a miniature pressure sensor build inside the muscle.
Position is measured with an incremental encoder and the low-level control software is implemented on a 16 bit microcontroller which is placed on the upperbody.
Vrije Universiteit Brussel,
Faculty of Applied Sciences,
Department of Mechanical Engineering
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