Journal of Intelligent & Robotic Systems

, Volume 91, Issue 2, pp 291–300 | Cite as

Dimitri: an Open-Source Humanoid Robot with Compliant Joint

  • Christopher Tatsch
  • Ahmadreza Ahmadi
  • Fabrício Bottega
  • Jun TaniEmail author
  • Rodrigo da Silva Guerra


We introduce Dimitri, an open-software & open-hardware humanoid robot with 31 DOFs, fitted with cost-effective modular compliant joints and parallel link legs, designed for advanced human-robot interaction research, force-informed object handling and intelligent environment discovery. Our main innovation is in the design of a robust full-body biped humanoid robot equipped with very low-cost polyurethane torsional spring fixed to traditional servo motors and a circuit to measure angular displacement, transforming the system into a series elastic actuator (SEA). In order to illustrate the robot’s qualities in the field of machine learning applied to robotics and manipulation, a multiple timescale recurrent neural network (MTRNN) is implemented, allowing the robot to replicate combined movement sequences earlier taught via interactive demonstration.


Humanoid robot Compliant joints MTRNN Neural network 


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Copyright information

© Springer Science+Business Media B.V. 2017

Authors and Affiliations

  • Christopher Tatsch
    • 1
  • Ahmadreza Ahmadi
    • 2
  • Fabrício Bottega
    • 1
  • Jun Tani
    • 3
    Email author
  • Rodrigo da Silva Guerra
    • 1
  1. 1.Centro de TecnologiaUniversidade Federal de Santa MariaSanta MariaBrazil
  2. 2.Department of Electrical EngineeringKAISTDaejeonKorea
  3. 3.Cognitive Neurorobotics Research UnitOkinawa Institute of Science and Technology (OIST)OkinawaJapan

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