**4. Realization of a Physical Model of a Bipedal Robot**

The supporting structure of the robot was made using 3D printing technology. This technology has proven itself as an effective method of manufacturing parts, mainly due to its sufficient accuracy and speed for prototyping purposes. The advantage of the material used in printing the parts is the low weight compared to other parts of the robot and the possibility to modify the parts even after printing. For most parts, the wall thickness was set to four layers and the material filling between the walls was 70%. The Micro-Electro-Mechanical Systems (MEMS) storage components and the component for stabilizing the robot in a seated position were printed with only three layers of wall thickness and 50% infill, as these components do not represent the load-bearing elements of the structure. On the contrary, the effectors were printed with a wall thickness of six layers and a filling of 80%.
