Body characteristics Degrees of freedom Height ~ 58 cm Head 2 DOF Weight ~ 4.3 kg Arm 5 DOF in each arm Body type Technical plastic Pelvis 1 DOF Leg 5 DOF in each leg Hand 1 DOF in each hand Multimedia Network access Speakers 2 Loudspeakers Connections type Wi-fi (IEEE 802.11g) Microphones 4 Microphones Ethernet connection Vision 2 CMOS digital cameras Sensors Motherboard Different type 32 x Hall effect sensors x86 AMD GEODE 500MHz CPU 256 MB SDRAM / 2 GB flash memory 1 x gyrometer 2 axis 1 x accelerometer 3 axis Embedded Software 2 x bumpers OS Embedded Linux (32 bit x86 ELF) using custom OpenEmbedded based distribution 2 channel sonar Programming languages C, C++, URBI, Python 2 x I/R Tactile sensor
