Development of Robots with Soft Sensor Flesh for Achieving Close Interaction Behavior

Table 1

Specifications of macket's skeleton.

Total DOF	26
Height	800 mm
Weight	5.6 kg (not including soft cover)
Actuator	RX-64 (maximum hold torque 64 kgf·cm)
	(ROBOTIS Co.)
	RX-28 (maximum hold torque 28 kgf·cm)
	(ROBOTIS Co.)
	FSRs for tactile and ZMP sensor
	(Interlink Co.),
	potentiometers for dislocation sensor
	(ALPS Electric Co.),
Sensor	3D Motion Sensor MDP-A-3U9S-DK
	(NEC/TOKIN Co.),
	two cameras, two microphones, and
	3D deformation sensor
	(explained in Section 3)
Electric interface	RS-485 (actuators, sensors), USB (sensors)
Human interface	Two cameras, two microphones, and speaker