We introduce a novel humanoid robotic platform designed to jointly address three central goals of humanoid robotics: 1) study the role of morphology in biped locomotion; 2) study full-body compliant physical human-robot interaction; 3) be robust while easy and fast to duplicate to facilitate experimentation. The taken approach relies on functional modeling of certain aspects of human morphology, optimizing materials and geometry, as well as on the use of 3D printing techniques. In this article,

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... we focus on the presentation of the design of specific morphological parts related to biped locomotion: the hip, the thigh, the limb mesh and the knee. We present initial experiments showing properties of the robot when walking with the physical guidance of a human. • the length l of the segment extending from the foot to the center of gravity, 12 by using the arm length as lever arm 13 When the robot overworks the consumption can raise up to 65W 14 The foot fabrication is hand made which lead to asymmetric morphology and can explain this slight difference.