Figure 2. Mechanical construction of the PERSIA humanoid robots-Design and Implementation of an Autonomous Humanoid Robot Based on Fuzzy Rule-Based Motion Controller

<p>Figure 2 shows one of the constructions used for our robots. Knee joints are considered to<br> bend in both directions which help faster response of the robot in backward walking. Efforts have<br> been made to hold the proportions as much as possible human like. The PERSIA robot is 38cm tall<br> and weighs about 1.6 kg. It has 18 degrees of freedom: 5 in each leg, 3 in each hand and 2 in head.<br> To facilitate exchange of the players, all robots use mechanically the same structure.</p>