Robo-Erectus: Team Description 2005 1 Robo-Erectus: Team Description 2005

Abstract. This paper provides a brief description of Robo-Erectus (RE), the humanoid developed in the Advanced Robotics and Intelligent Control Centre of Singapore Polytechnic that will participate in the humanoid league of RoboCup 2005. The project to develop a low-cost humanoid platform is presented. The mechanical structure of Robo-Erectus and the evolution of its various models is presented. The development of its control systems and the planning of itsdynamically stable walking and kicking gait of the robot is also described.