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A. Byagowi, P. Kopacek, J. Baltes:
"Teen Sized Humanoid Robot Archie";
International Journal Automation Austria IJAA, 18 (2010), Sonderheft; 60 - 70.

This paper is a brief description of the teen-sized humanoid robot Archie. Archie
has been developed in Vienna University of Technology under supervision of Prof. Peter
Kopacek. Later on the software development of Archie extends on collaboration with the
department of computer science from University of Manitoba. Archie is constructed by
using brushless motors and harmonic gears with a novel approach for finding the absolute
position which is presented in the PhD thesis of Ahmad Byagowi as part of the work on the
robot. The students of University of Manitoba are using the experience with small
humanoid robots to develop the software of Archie, to create, store, and play back motions.
The software of the robot is aimed to be developed in a level to control automatically the
balance of the robot by using feedback from an internal measurement unit (IMU).

http://publik.tuwien.ac.at/files/PubDat_208016.pdf