To promote the humanoid robot technical knowledge, through a coherent program in Iran, the design and fabrication of the first generation of the SURENA humanoid robot has been started since 2007. The SURENA I project was carried out at the Center for Advanced Vehicles (CAV), university of Tehran, with the financial support of the R&D Society of Iranian Industries and mines. During the public presentation ceremony, the SURENA’s certificate was signed by the minister of industry of Iran. The height and weight of SURENA I was 165 centimeters and 60 kilograms, respectively. The robot was able to speak according to a predefined text, and had remote control and predefined path tracking abilities.