\chapter{Introduction}\label{chapter:intro}
\thispagestyle{myheadings}

\large !!!!! Fazer o setup/apresentac\~ao da tese! !!!!!

The humanoid robotics field gives engineers a great challenge in an wide range
of areas, such as biomechanics, physics, electronics and mechanical. With each
area, comes
an array of problems. The work here presented tries to solve some of them with a
combination of modular programming structure, environment sensing and haptic
interfacing.

Although there has been very incredible advances in humanoid robots, there is
still no mathematical model to control so many degrees of freedom. This problem
makes controlling this type of robots very hard and computational time
consuming. Some robotic models were applied to different robots with various
success rates but all tests were made in controlled environment with routines
for each phase of the path.

!!!!! GIVE EXAMPLES !!!!!


This work is centred mainly on the University of Aveiro Humanoid Project (PUHA),
a low-budget 65 cm and about 6 kg humanoid robot. With 27
degrees-of-freedom, 25 of them actuated, this robot is capable of performing
complex and human-like movements. This is achieved by a hybrid motor system with
sevormotor powered joints with belted transmission and elastic elements, giving the
the joins a mechanism to store and dispense kinetic energy.



!!!!!*
\begin{itemize}
 \item Apresentac\~ao
 \item Possiveis caminhos 
 \item Possiveis problemas????
 \item Porquê as ferramentas utilizadas
\end{itemize}
!!!!!*

% -------------------------------------------------------------
% objectives
% -------------------------------------------------------------
\section{Objectives}\label{ssec:intro_objectives}
\large !!!!! Descric\~ao dos objetivos da tese !!!!!


% -------------------------------------------------------------
% motivation
% -------------------------------------------------------------
\section{Motivation}\label{ssec:intro_motivation}
\large !!!!! Explicação da motivação por trás da tese !!!!! 


This work is the preliminary stage of a long term goal to teach auto-balancing
and walking motion with a learning by demonstration algorithm.


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