| Size | L: 34 x W: 19-25 x H: 35 cm, leg length at standing¡§18cm-22cm |
| length | [thigh] 9 cm, [shank] 11 cm, [foot] 8 cm
Distance between roll joints (left-right): 12cm, between pitch joints (fore-hind): 25cm |
| weight | 5.2Kg (excluding batteries) |
| joints | hip pitch, hip roll, knee pitch, and ankle pitch (all joints are actively controlled) |
| sensors | encoder, rate gyro (pitch&roll), accelerometer (pitch&roll&yaw), 3 axes force-torque sensor (NITTA PD3-32, force: 1 axis, torque: 2 axes) |
| DC servo motors |
hip pitch, knee pitch, ankle pitch: MAXON RE25 20 [W] hip roll: MAXON RE-max24 11 [W] |
| gear reduction ratio |
hip pitch: 46, knee pitch:: 50, ankle pitch: 40, hip roll: 122 |
| controller and etc. | CPU board: General Robotix HRP-3P-CN-A,
I/O board: General Robotix HRP-3P-MCN, OS: ART-Linux |
| velocity |
NOT YET (expectation max: 1 m/s) |
| walking style |
NOT YET |