H6 国家: 日本 制造者: 东京大学 年份: 2000 高度: 4'5in (137cm) 重量: 121lbs (55kg) 自由度: 35

Kawada 制造业有限公司的飞行器与机械制造部门于2000年6月完成了类人机器人H6 & H7的研制工作。这是最早的“整合感知行为的类人机器人”。机器人高4’5in (137cm)、宽1’11in (59cm)、重121lbs (55kg)，包括8.8lbs (4kg)的电池在内。机器人的自由度总共为35度：每条腿6度、每只脚（齿接）1度、每条胳膊7度、每只钳状的手1度、脖子2度、眼睛3度。所有主要的关节都是由直流电发动机及和谐的传动齿轮来驱动。装在机器人身上的个人电脑用于对舵机的实时控制和保持平衡，以及调整高级的3维视觉和动作、编制各部分软件模块。电脑配有两个750MHz的奔腾III处理器，运行RT-Linux操作系统。机器人的操作系统通过无线以太网与网络连接。因此，机器人的设备非常齐全（无需使用外部电缆进行操作）。

Construction of the first prototype “Perception-Action Integrated Humanoid Robot”, the H6 & H7, was completed in June 2000 by the Aircraft and Mechanical Systems Division of Kawada Industries, Inc. The height of the robot is 4’5in (137cm), the width is 1’11in (59cm), and the mass is 121lbs (55kg) including 8.8lbs (4kg) of batteries.  The robot has a total of 35 degrees of freedom (DOF):  6 for each leg, 1 for each foot (toe joint), 7 for each arm, 1 for each gripper, 2 for the neck, and 3 for the eyes.  All major joints are driven by DC motors and Harmonic drive gears.  An onboard PC equipped with dual PentiumIII-750MHz processors running RT-Linux is used for real-time servo and balance compensation, as well as coordinating high-level 3D vision and motion planning component software modules.  The system is connected to the network via wireless Ethernet.  Thus, the robot is fully self-contained (it can be operated without any external cables).