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,→General Specifications
| Legs || 6 (each) || 6 DoF are sufficient to walk.
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== Sensors ==
{| class="wikitable"
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| 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)
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| Joint sensors || For each small joint || Absolute magnetic encoder (except the fingers which use a custom hall-effect sensor), medium-resolution incremental encoder at the motor
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| Force/torque sensors || 6 || 6x6-axis force/torque sensors are mounted on the upper part of the arm and legs plus 2 additional sensors mounted closer to the ankle for higher precision ZMP estimation (100Hz)
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| Tactile sensors || More than 3000 (*) || Capacitive tactile sensors (8 bit resolution at 40Hz) are installed in the fingertips, palms, upper and fore-arms, chest and optionally at the legs (*).
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== References ==
