The number of degrees of freedom is as follows:
| Component |
# of degrees of freedom |
Notes
|
|---|
| Eyes |
3 |
Independent vergence and common tilt
|
| Head |
3 |
The neck has three degrees of freedom to tilt, swing, and pan
|
| Chest |
3 |
The torso can also tilt, swing, and pan
|
| Arms |
7 (each) |
The shoulder has 3 DoF, 1 in the elbow, and three in the wrist
|
| Hands |
9 |
The hand has 19 joints coupled in various combinations: the thumb, index, and middle finger are independent (coupled distal phalanxes), the ring and little finger are coupled. The thumb can additionally rotate over the palm.
|
| Legs |
6 (each) |
6 DoF are sufficient to walk.
|
| Sensor type |
Number |
Notes
|
|---|
| Cameras |
2 |
Mounted in the eyes (see above), Pointgrey Dragonfly 2 (640x480)
|
| Microphones |
2 |
SoundMan High quality Stereo Omnidirectional microphone, -46 dB, 10V, 20....20 000 Hz +/- 3dB
|
| Inertial sensors |
3+3 |
Three axis gyroscopes + three axis accelerometers + three axis geomagnetic sensor based on BOSCH BNO055 chip, mounted in the head. (100Hz)
|
| Joint sensors |
For each large joint |
Absolute magnetic encoder (12bit resolution @1kHz) at the joint, high-resolution incremental encoder at the motor side, hall-effect sensors for commutation (brushless motors only)
|