Position and torque sensors in each joint. 6-DoF force/torque sensor in each ankle. Inertial measurement units on torso and head. ASUS Xtion pro in the head. Two FLIR/Point Grey Firefly monochrome cameras in the head. One Intel RealSense SR 300 in the head.
25 motor drive units (based on LWR technology) on arms, legs, and hip. Two Dynamixel servo motors on the neck.
Degrees of Freedom (DoF)
39 (Neck: 2 DoF; Arms: 6 DoF x 2; Legs: 6 DoF x 2; Hip: 1 DoF; Hands: 6 DoF x 2)
Mostly custom-made parts, milled in aluminum.
Two Intel Core i7 computers on torso, one Intel Core i3 computer in the head
Real-Time Linux based on Kernel 4. Real-time-capable middleware Links and Nodes (developed at DLR). Runtime-configurable hardware abstraction framework Robotkernel (developed at DLR).
Two 48-V, 6.6-Ah lithium-ion-manganese-oxide battery packs, 1 hour of operation