PlasticPals just pointed out DLR's 10-month effort to build a biped robot -- an effort that yielded a 1-meter, 50kg walking robot (video below). Mechanically, each leg has six degrees of freedom. A DLR / Kuka Light-Weight Robot (LWR) arm segment comprises the upper-leg, and a custom lower-leg segment connects to the foot through a six-axis force-torque sensor. Realtime control algorithms and dynamic simulations are performed using OpenHRP3 and Simpack. DLR claims that this is the "first electromechanically actuated bipedal robot with torque controlled joints," through which they intend to research compliant impedance control for biped locomotion. I share PlasticPals' musings: could these legs ultimately transform Justin into a bipedal walking humanoid?