| Specification | |||
|---|---|---|---|
| Basic Info | |||
| Name | Cog | Dreamer | Kismet |
| Company | MIT | MIT | MIT |
| Release Year | 1993 | 2007 | 1997 |
| Stage | Demo | Demo | Demo |
| Locomotion | Hybrid | Biped | Hybrid |
| Physical Specs | |||
| Height (cm) | 172 | 172.7 | 38 |
| Weight (kg) | - | 90.7 | 7 |
| Total DOF | 22 | 31 | 21 |
| Hand DOF | - | - | - |
| Performance | |||
| Max Speed (km/h) | - | 5.4 | - |
| Dual-Arm Payload (kg) | - | - | - |
| Battery (h) | - | - | - |
| Computing Platform | - | Intel Core i5 computer Ubuntu Linux OS and RTAI with Whole-Body Control Framework v1.1, Meka M3 server for communications, and skills programmed using YAML directives. | Four Motorola 68332 microprocessors, nine networked 400 MHz PCs, dual 450 MHz PC running NT, and 500 MHz PC running Linux. High-level perception system, motivation system, behavior system, motor skill system, and face motor system coded in L, a multi-threaded Lisp. Plus QNX real-time operating system, DECtalk voice synthesizer, and speech processing package developed at MIT by the Spoken Language Systems Group. |
| Sensors | Each eye with two cameras (one wide and one narrow field of view), three-axis inertial system, load cells in each joint, optical encoders, array of tactile sensors, two microphones. Various limit switches, pressure sensors, and thermal sensors (to gather proprioceptive data). | Camera, joint position and torque sensors, force sensors (in the wrists and fingers), inertial measurement unit. | Four digital cameras, three microphones, 21 encoders. |
| Commercial | |||
| Price | - | $417,391 | $26,087 |
