http://italkproject.org/
where various partners around the world will use a humanoid robot developed in Genova (italy).
Of course, one of the task is to develop an accurate simulator for the robot... you know... to avoid to break it to often (one robot cost 250.000€ )
I've just finish to port the structure into Newton
please look at the pictures 
The robot is composed by 73 DOF
actuated by 53 motors controlled by on-boards DSP.
The second image shown the 73 joints, each cyan cylinder represent the axis of rotation of joints and green lines represent their connections.
Of course, thank you to Julio ... because only with Newton this can be simulated
Ciao,
Gianluca
