Humanoid Robot


Persia humanoid robot built in 2004 is the first iranian humanoid robot that is an intelligent bipedal walking robot with an offline ZMP-based stability contoller. The main properties of this robot are:

  • 21 Degrees of  Freedom,  Height: 44 cm

  • Maximum Speed: 15 cm/s

  • 3D Smooth Trajectory

  • Motion Planning with 4 Independent Parameters

  • Dynamically Stable

  • Stabilization Based on ZMP Criteria

  • Fully Simulation-based Design

  • Intelligent Path Planning Algorithm

  • Vision-based Object Tracking


The robot was participated in Robocup 2004 humanoid league at Lisbon and left competitions with 2nd and 3rd in Technical Challenge and Penalty Kicks.



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