Asimo specifications

ASIMO'S SPECIFICATIONS

	FRONT				SIDE

HEIGHT	4 ft 3in (130cm)
WEIGHT	119 pounds (54kg)
WALKING SPEED	1.7 mph (2.7 km/hour)
RUNNING SPEED	3.7 mph (6km/hour)
WALKING CYCLE	Cycle Adjustable, Stride Adjustable
GRASPING FORCE	0.5 kg/hand (5 finger hand)
ACTUATOR	Servomotor+Harmonic Speed Reducer+Drive Unit
CONTROL UNIT	Walk/Operating Control Unit, Wireless Transmission Unit
SENSORS: FOOT	6-axis Foot Area Sensor
SENSORS: TORSO	Gyroscope & Acceleration Sensor
POWER:	Rechargeable 51.8V Lithium Ion Battery
OPERATING TIME:	1 hour
OPERATION	Workstation and Portable Controller

DEGREES OF FREEDOM (for human joints)
HEAD	Rotation, Up/Down (nodding)	3DOF
ARM		14DOF
HANDS	not counting the joints for the 5 bending fingers	4DOF
TORSO		1DOF
LEGS		12DOF
TOTAL		34DOF

source from http://asimo.honda.com/asimo_specifications.html