Abstract
We present the mechanical design of our new hydraulic humanoid robot RL-H2. Compare to our previous model, the robot is installed with the upper half of the body and arms. The joint specification is determined by dynamic full-body simulations including the falling motion. To make the robot have the same mass distribution as the human, the main parts of the robot is made out of CFRP plate. This paper describes the design process, simulation results, and mechanical specifications.
