CBi̎dl

Eyes

4 video cameras

Head

7 DOFs Gyro on-board

Ears

2 microphones

Body

Upper body is capable of forward and backward tilting, and side flexion

Hand

6 DOFs, gestures, grasping a bat, etc. are possible, first and second fingers have analog control, others have ON/OFF control

Arms

7 DOFs, can lift up to 3 kg

Legs

7 DOFs

feet

6-axis sensor on-board

This robot has a total of 51 DOFs. Its eyes are driven by electricity, its hands are pneumatic, and others are hydraulic pressure. DOFs are controlled by a microcontroller that has partial position and force feedback control functions.The upper motor control programs in the two PCs (upper and lower body) give motor commands to the microcontroller in real time. The robot is operated by wireless communication and is controllable by an external PC cluster.