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| Legs || 6 (each) || 6 DoF are sufficient to walk.
|}
{| class="wikitable"
! 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)
|}
== References ==
