General description of the walking machine project

Name of the walking machine/project: IOAN
Begin and end of the Project: 1994 - 1996
Project costs: about 200000 BEF (Belgian Franc)
Building effort [person years]: 2
Source of financial support:

Research group

Department of Mechanical Engineering and Robotics

Staff of the project:

Prof. Dr. Andre Preumount (director)
Mr. Paul Alexandre
Mr Yves Ngounou
Mr Ioan Doroftei

Information via www:

Contact address:

Mr Paul Alexandre, ULB Service des Constructions Mecaniques et Robotique
50, Avenue F.D Roosevelt CP 165, 1050 Bruxelles (Belgique)
Tel: ++32 2 650 26 87, Fax: ++32 2 650 46 60, Email:

Technical data of the walking machine

Dimension Capacity Mobility Energy supply
Length 0.4m Max. speed 0.04m/s Number of legs 6 Energy supply DC-servos
Height 0.15m Weight 1.2kg Act. degrees of freedom 16 Power supply
Width 0.1m Load Pas. degrees of freedom 0 Power consumption 16Watt


[Alexandre and Preumont, 1995]