e's model
DS149K-K is a kinematics model developed by Shin’ya Miyamae. It is a humanoid robot model with a total of 19 degrees of freedom. It has 3 degrees of freedom for each arm and 2 for each leg, 10 for the torso and 4 for the head. The mass of the robot is 14.9 kg, and the end-effector position accuracy is 5 cm. Additionally, the model can reach a maximum joint velocity of 30°/sec, and a maximum acceleration of 30°/sec^2. The model also has tactile sensors, ultrasonic sensors, camera, and network connections.