3.3 Selection and data base

Many components used in such highly integrated systems are commonly known, commercially available and do not have to be newly invented. However, a humanoid robot consists of a large number of components, and for each of them there may be a variety of technical solutions. This leads to an overwhelming number of possible combinations, which cannot easily be overseen without help and which complicates an efficient target-oriented development. Therefore it is helpful to file the components of the joints, actuators and sensors as objects in an object-oriented classification. It enables a requirement-specific access to the objects and delivers information about possible combinations of components.