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A miniature-humanoid-robot platform with advanced computational power, sophisticated sensors, high payload capacity, and dynamic motion ability. DARwIn-OP has 20° of freedom, and the center of mass is located at the center of its pelvis, which is optimal for proper balancing and proper of inertia during walking. The robot has hollow frames which allows the robot to maintain a low overall weight. The frames are designed so that the user can include additional sensors to the robot, including wirin
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