WAMOEBA-2 (1995-1999)

WAMOEBA-2 Movie1:Light tracing (Quick Time, 680KB)

Movie2:Battery Charge (Quick Time, 1,117KB)

Movie3:Interaction with humans (Quick Time, 2,431KB)

WAMOEBA-2R (1999-2000)

WAMOEBA-2R Movie1:Force control (Mpg, 833KB)

Movie2:Sound recognition (Mpg, 1,560KB)

Movie3:Face recognition (Mpg, 2,729KB)

Movie4:Interaction with humans1 (Mpg, 1,949KB)

Movie5:Interaction with humans (Mpg, 1,044KB)

Movie6:At robot exhibition1 (Mpg, 1,886KB)

Movie7:At robot exhibition2 (Mpg, 1,263KB)

WAMOEBA-2Ri (2000-2003)

WAMOEBA-2Ri Movie1:Detection of moving object (Mpg, 5.59MB)

Movie2:Force control of neck (Mpg, 1.56MB)

Movie3:Force control of wrist (Mpg, 2.34MB)

Movie4:Interaction with humans (Mpg, 2.49MB)

Movie5:Visually guided reaching (Mpg. 2.8MB)

WAMOEBA-3 (2003-)

WAMOEBA-3 Movie1:IEC experiment(Mpg, 2.33MB)
　
Movie2:IEC experiment2(Mpg, 2.54MB) 　

Movie3:IEC experiment3(Mpg, 2.92MB) 　


Specifications

　 WAMOEBA-3 WAMOEBA-2Ri WAMOEBA-2
Size 1316(H)x825(L)x656(W) 1380(H)x980(L)x766(W) [mm] 1093(H)x980(L)x766(W) [mm]
Weight 130kg 130kg 100kg
Operating Time 60minutes 50minutes 60minutes
Velocity 3.5km/h 3.5km/h 3.5km/h
Handling - 2 kgf/hand －
Outer DOF Neck
Vehicle
Arm
Hand
 2
3
6x2=12
1x2=2		 2
2
5x2=10
1x2=2
 2
2
2x2=4
-
Inner DOF Cooling Fan
Relay Switch
 4
-		 10
4
 10
4
Outer Sensor Vision
 CCD Color Cameras x2
 CCD Color Camerasx2 （Object tracing，Face identification）

 CCD Color Cameras x2 （Object tracing）
Sound Input Microphones x2 (Sound localization) Microphones x3 (Sound localization, Voice recognition) Microphones x2 (Sound localization)
Sound Output Speaker (Voice synthesizing) Speaker (Voice synthesizing) Speaker (Voice synthesizing)
Range Ultrasonic Sensors x8 Ultrasonic Sensors x4 Ultrasonic Sensors x4
Haptic Bumper Switches x8 Bumper Switches x8 Bumper Switches x8
Joint Torque Torque Sensors x12 Torque Sensors x10 -
Detect Handling object Ir Sensor x8 Ir Sensor x2 -
Grasping Force - FSR Sensor x2 Touch Sensors x2
Other sensor Pyroelectric Sensor x3 - -
Inner Sensor Voltage Battery Voltage Battery Voltage
 Battery Voltage
Current Total Current Total Current
 Motor Current
Temperature Cuicuit Temperature x4 Motor & Cuicuit Temperature×10
 Motor & Curcuit Temperature x10
Structural Material Duralmin, Alminium, Titanium Duralmin, Alminium Duralmin, Alminium
CPU Pentium 4 (3.2GHz),
VR5500-ATOM x 6		 Pentium III (500MHz) x2 Pentium Ⅱ (233MHz)，Pentium (200MHz)
Operating System Linux RT-Linux MS-DOS

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