Excuse-me, but I'd like to know if is it possible to work with Orocos to desing, model and control of a biped antropomorphic robot? The goal would be to make a 3D model of the robot to have a 3D environment simulation and to have the biped robot modeled to do some tests with different kinds of controllers for a balanced gait.

If it's possible to work with biped antropomorphic robotics, I'd like to see some exemples to find out how to begin.