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Specification of ROBIN-H1.
| Feature | Specification |
|---|---|
| Weight | 11 kg |
| Actuator Module | BLDC Motor (Kollmorgen) |
| GearHead (Harmonic Driver Gear) | |
| Motor Drive (Elmo Motor Controller) | |
| Degrees of Freedom (DOF) (each leg) | Active: 2 DOFs (hip and knee) |
| Passive: 1 DOF (ankle) | |
| Range of Motion (ROM) | Hip: −30 to 110° |
| Knee: 0 to 110° | |
| Equipped Sensors | 2 IMUs |
| 4 absolute encoders | |
| 4 incremental encoders | |
| 2 foot sensors |
