This paper proposes a novel leg design for a humanoid robot that can be 3D printed. More explicitly, the efforts of this paper are to bring some of the more complex leg designs seen in large scale bipedal robot into the realm of smaller bipeds while still allowing for it to be easily reproducible or modified. In order to accomplish this 3D printing technology was utilized, as well as an iterative design process. An ankle and knee powered by linear actuators were first constructed to test the conceptual design of the leg. This was followed by a complete leg design with improved ankle and knee, along with the rest of the leg.

Library of Congress Subject Headings

Robots--Motion; Robots--Design and construction; Artificial legs--Design and construction; Three-dimensional printing

Publication Date


Document Type


Student Type


Degree Name

Microelectronic Engineering (MS)

Department, Program, or Center

Microelectronic Engineering (KGCOE)


Ferat Sahin

Advisor/Committee Member

Sidomar Monteiro

Advisor/Committee Member

Sohail Dianat


RIT – Main Campus

Plan Codes