The University of Tokyo has several labs that have contributed greatly to the field of humanoid robotics. This article will go over just the research from the Jouhou System Kougaku (JSK) Laboratory within the department of Mechano Informatics.
Humanoid Autonomous Robot Platform (HARP) started in 1991. H3 is a stationary upper torso and H4 is a humanoid upper body mounted on an electric wheelchair.
H5 is a humanoid robot that dynamically walks using Zero Moment Point. The robot has a total of 30 DoF: 6 DoF for each arm and leg, 1 DoF for each gripper, and an additional 4 DoF for the head. H5 is 1270 mm tall and has a weight of 33 kg.
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More information at http://www.jsk.t.u-tokyo.ac.jp/research/H5/h5.html
https://www.youtube.com/watch?v=c-EV7qUbA2U
H6 was assembled in 2000 by the Aircraft and Mechanical Systems Division of Kawada Industries. The robot has the same 6 DoF in each leg as H5, but also includes a toe joint. There is also 7 DoF in each arm, 1 DoF for each gripper, 2 DoF for the neck, and 3 DoF for the eyes. This brings the total to 35 DoF compared to the 30 in H5. H6 is 1370 mm tall and weighs 55 kg including batteries. The robot features dual Pentium III processors allowing the robot to operate with no tether (power or control).
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