Diego-san is a humanoid designed to study cognitive development. It's modeled after a 1-year-old baby, except it has a giant head to accommodate all the hardware that powers its expressive face.
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Did You Know?
At 30 kg (66 lb) and over 1.2 m (4 ft) tall, Diego-san is significantly larger than your average 1-year-old human.
Diego-san's face is just a prototype; a new version is in the works with a slightly less uncanny look.
- Equipped with compliant joints driven by agonistic-antagonistic actuators. Capable of controlling the stiffness of each joint.
- 130 cm | 51.2 in
- N/A cm | N/A in
- 70 cm | 27.6 in
- 35 kg | 77.2 lb
- N/A km/h | N/A mph
- Two Point Grey Dragonfly2 cameras, two microphones, two inertial measurement units, 38 potentiometers, 88 pressure sensors.
- 44 pneumatic actuators for body joints and 18 electric RC servos for the face.
- Compressed air from external compressor.
- Intel Xeon 2.8 GHz computer with 12 cores. Analog sensors and pneumatic actuators connected to the computer using a National Instruments data acquisition system.
- Ubuntu Linux OS and ROS (Robot Operating System) for sensor and actuator communication. OpenCV for visual perception; Python/Matlab/C++ for control system.
- DEGREES OF FREEDOM (DOF)
- 62 (18 electric servos for facial expression and 44 independently controlled pneumatic joints: Head and neck: 4 DoF; Trunk: 4 DoF; Arm: 8 DoF x 2; Hand: 3 DoF x 2; Leg: 7 DoF x 2. Each pneumatic joint has 2 degrees of freedom: position and compliance.)
- Aluminum structure, acrylic shell, and rubber face.