| 参数 | |||
|---|---|---|---|
| 基础信息 | |||
| 名称 | Cog | Dreamer | Kismet |
| 公司 | 麻省理工学院 | 麻省理工学院 | 麻省理工学院 |
| 发布年份 | 1993 | 2007 | 1997 |
| 产品阶段 | 公开演示 | 公开演示 | 公开演示 |
| 运动方式 | 混合 | 双足 | 混合 |
| 物理规格 | |||
| 身高 (cm) | 172 | 172.7 | 38 |
| 重量 (kg) | - | 90.7 | 7 |
| 总自由度 | 22 | 31 | 21 |
| 手部自由度 | - | - | - |
| 性能参数 | |||
| 最大速度 (km/h) | - | 5.4 | - |
| 双臂负载 (kg) | - | - | - |
| 续航 (h) | - | - | - |
| 算力平台 | - | 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. |
| 传感器配置 | 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. |
| 商业信息 | |||
| 价格 | - | ¥2,880,000 | ¥180,000 |
