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| Specification |  Waseda University Waseda TWENDY-ONEHome Assistant Robots 早稻田大学科研样机，未形成实际商业售价；约 US$200,000 仅为当年的未来商业化目标价 |
|---|---|
| Basic Information | |
| Positioning / Application | 家务、护理辅助、人机安全协作、物体抓取与操作科研平台；2007 年公开 |
| Release Date | — |
| Country | 日本 |
| Model Alias | TWENDY-ONE / Twendy One |
| Made In | 日本 |
| Overall Specifications | |
| Weight (kg) | 111 |
| Height (mm) | 1467 |
| Material | 镁合金结构、塑料及柔软硅胶安全覆层 |
| Noise Level (dB) | — |
| Width (mm) | 734 |
| Folded Dimensions (mm) | — |
| Locomotion Type | wheeled |
| Color | — |
| Motion Performance | |
| Max Speed (m/s) | 0.75 |
| Payload (kg) | 22 |
| Peak Joint Torque (N·m) | — |
| Max Gradient (°) | — |
| Max Step Height (cm) | — |
| Jumping Capability (m) | — |
| Degrees of Freedom | |
| Total DOF (DOF) | 47 |
| Waist DOF (DOF) | — |
| Mechanical Structure | |
| Joint Type | 每臂 7 自由度、每手 13 自由度、躯干 4 自由度、颈部 3 自由度；肩肘采用机械被动柔顺机构 |
| Joint Encoder | — |
| Joint Range of Motion | — |
| Sensors | |
| Sensors | 立体相机、5 个 6 轴力传感器、60 个位置传感器、600 余个分布式压力传感器 |
| Camera | 立体视觉相机 |
| LiDAR | — |
| IMU | — |
| Obstacle Avoidance | 超声波避障与 6 轴力觉接触检测 |
| Battery & Endurance | |
| Battery Capacity (Wh) | — |
| Runtime (h) | 0.5 |
| Charging Time (h) | — |
| Battery Voltage (V) | — |
| Power Supply (V) | — |
| Hot-swappable | — |
| Charging Power (W) | — |
| Charging Method | — |
| Compute Platform | |
| Onboard Compute | 7 台 Pentium 控制计算机 |
| AI Compute Module | — |
| Compute (TOPS) (TOPS) | — |
| Operating System | Linux 与自研控制软件 |
| CPU Cores (核) | — |
| Safety & Environment | |
| Ingress Protection (IP) | — |
| Operating Temperature (°C) | — |
| Pinch Protection | — |
| Interaction & Communication | |
| Communication | — |
| Microphone | — |
| Speaker | — |
| Lighting | — |
| Voice Interaction | 支持语音交流 |
| OTA Update | — |
| Development & Expansion | |
| Secondary Development (SDK) | — |
| Expansion Backplane | — |
| App Platform | — |
| Commercial Information | |
| Warranty (年) | — |