Martínez de la Casa Díaz, SantiagoMonje Micharet, Concepción AliciaJardón Huete, AlbertoPierro, PaoloBalaguer Bernaldo de Quirós, CarlosMuñoz, D2014-06-042014-06-042012-03-27Cybernetics and Systems: An International Journal (2012), 43(3), 163-1800196-9722 (Print)1087-6553 (Online)https://hdl.handle.net/10016/18937Versión pre-print (sin revisión por pares) del artículo publicado en Cybernetics and Systems: An International Journal (2012), 43(3), 163-180, accesible en linea: http://dx.doi.org/10.1080/01969722.2012.659977.This is an Author's Original Manuscript (non-peer reviewed) of an article published in Cybernetics and Systems: An International Journal (2012), 43(3), 163-180, available online: http://dx.doi.org/10.1080/01969722.2012.659977.This article deals with the design of the full-size humanoid robot TEO, an improved version of its predecessor Rh-1. The whole platform is conceived under the premise of high efficiency in terms of energy consumption and optimization. We will focus mainly on the electromechanical structure of the lower part of the prototype, which is the main component demanding energy during motion. The dimensions and weight of the robotic platform, together with its link configuration and rigidity, will be optimized. Experimental results are presented to show the validity of the design.19 p.application/pdfeng© 2012 Taylor & Francis Group, LLCEnergy consumptionHumanoid robot designLower body improvementresearch articleRobótica e Informática Industrial10.1080/01969722.2012.659977open access1633180Cybernetics and Systems43AR/0000009892