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WABOT-2
WABOT-2
Last updated: September 2, 2026
Locomotion Type
Biped
Stage
Demo
Degrees of Freedom
14 DOF
Weight
90 kg
Release Year
1984
Computing
One Zilog 6MHz 16-bit Z8001 CPU (high-level limb control), two 4MHz 16-bit Z8002 CPUs (middle-level control during playing), and 50 4MHz 8-bit Z8094 CPUs (low-level motor control, one CPU per DOF). Unix OS and control system written in C and assembly code.
Sensors
CCD camera, position sensors (potentiometers), DC tachometer generators, rotary encoders.
WABOT-2 (1984) is a keyboard-playing humanoid robot by Waseda University that reads sheet music, converses and plays an electronic keyboard with ten fingers, a landmark of musical humanoid robotics.
Application Scenarios
Musical robotics and dexterous manipulation research.
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