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| Specification |  Waseda University Waseda Flutist WF-4RVIUpper-Body Humanoid 早稻田大学定制研究平台，未商业销售；原产地货币 JPY 暂不受字段枚举支持 |
|---|---|
| Basic Information | |
| Positioning / Application | 拟人长笛演奏、音乐表达与人类乐手交互研究平台 |
| Release Date | 2010 |
| Country | 日本 |
| Model Alias | Waseda Flutist No.4 Refined VI / WF-4RVI |
| Made In | 日本 |
| Overall Specifications | |
| Weight (kg) | — |
| Height (mm) | 1600 |
| Material | — |
| Noise Level (dB) | — |
| Width (mm) | — |
| Folded Dimensions (mm) | — |
| Locomotion Type | — |
| Color | — |
| Motion Performance | |
| Max Speed (m/s) | — |
| Payload (kg) | — |
| Peak Joint Torque (N·m) | — |
| Max Gradient (°) | — |
| Max Step Height (cm) | — |
| Jumping Capability (m) | — |
| Degrees of Freedom | |
| Total DOF (DOF) | 41 |
| Waist DOF (DOF) | — |
| Mechanical Structure | |
| Joint Type | 机械肺 2、进气阀 1、颤音 1、眼 3、双臂 14、嘴唇 3、手指 12、颈 4、吐音舌 1 |
| Joint Encoder | — |
| Joint Range of Motion | — |
| Sensors | |
| Sensors | 双 CCD 相机、气压与气流传感器、光学编码器、力传感器和麦克风 |
| Camera | 2× CCD 相机，用于识别人类乐手动作与视觉线索 |
| LiDAR | — |
| IMU | — |
| Obstacle Avoidance | — |
| Battery & Endurance | |
| Battery Capacity (Wh) | — |
| Runtime (h) | — |
| Charging Time (h) | — |
| Battery Voltage (V) | — |
| Power Supply (V) | — |
| Hot-swappable | — |
| Charging Power (W) | — |
| Charging Method | — |
| Compute Platform | |
| Onboard Compute | 三台计算机分别负责机器人控制、伴奏 MIDI 生成和 CCD 视觉处理 |
| AI Compute Module | — |
| Compute (TOPS) (TOPS) | — |
| Operating System | — |
| CPU Cores (核) | — |
| Safety & Environment | |
| Ingress Protection (IP) | — |
| Operating Temperature (°C) | — |
| Pinch Protection | — |
| Interaction & Communication | |
| Communication | — |
| Microphone | 用于音乐节拍、音高与人类演奏者听觉线索处理 |
| Speaker | — |
| Lighting | — |
| Voice Interaction | — |
| OTA Update | — |
| Development & Expansion | |
| Secondary Development (SDK) | — |
| Expansion Backplane | — |
| App Platform | — |
| Commercial Information | |
| Warranty (年) | — |