Prototype “SDR-4X” : Main Specifications

CPU: 64 bit RISC processor (x2)

Main Recording Device: 64MB DRAM (x2)

Operating System: Aperios (Sony’s original real time OS)

Robot Control Architecture: OPEN-R

Control Program Supplying media: 16MB Memory Stick

Joint Degrees of FreedomNeck: 4 degrees of freedom, Body: 2 degrees of freedom, Arms: 5 degrees of freedom (x2), Legs: 6 degrees of freedom (x2); total 28 degrees of freedom 5 fingers on each hand

Internal SensorsDistance DetectionInfrared Distance Sensor: head x1, hands x2, total 3

Acceleration DetectionTrunk: X, Y, Z/3 axes, Legs: X, Y/2 axes

Angular Rate DetectionTrunk: X, Y, Z/3 axes

Foot Sole Sensor: Power Sensor (each leg: 4 x 2 = total 8)

Thermo Sensor: External (x4), Internal (x2)

Touch Sensor: HeadPressure Sensitive Rubber

Handle: Sheet Switch

Hands: Sheet Switch X2

Shoulders: Tact Switch X2

Image Input: 110,000 pixels 1/5 inch CCD color camera (x2)

Sound Input: Microphone (x7)

Sound Output: Speaker

Input/Output: PC Card Slot (Type II) (x1)

Memory Stick Slot (x1)

DisplayEye LED: 4096 color (RGB 16 gradation combination)

Ear LED: 1 color 16 gradation

Power LED: 2 colors (3 colors in simultaneous lighting) Performance/Charging Condition Display

Walking Speed: Approximately 6m/minute max (irregular surface)Pace: 10cm, Walking Cycle: 1.0 second/step

Approximately 20m/minute max (flat, smooth surface)Pace: 6.5cm, Walking Cycle: 0.20 second/step

Irregular Surface Walking Ability: Irregularity degree: 10mm irregular surface on non-slip condition

Tilt degree: Up to approx. 10 degrees tilted surface on non-slip condition

Weight: Approximately 6.5Kg with battery and memory

Dimensions (height x width x depth): Approximately 580 x 260 x 190mm