JAXON\cite{1}
研发团队：JSK
硬件平台：X86_64 (4-core Core i7 2600K 3.40 GHz and 8GB memory)
通信方式：电机控制使用 多路RS422(Baud rate for data transfer is 26.7 [Mbps], effective data transfer rate which contains error correction is about 4 [Mbps]).A 6-axis force sensor communicate with “Control PC” through another PCI board. A IMU sensor communicate with “Control PC” through USB-serial conversion adapter.
控制频率：1000Hz
控制方式：位置控制
软件环境：实时linux+OpenRTM+ROS
关节分布：脚（6DOF），手(8DOF)
HRP3L-JSK\cite{2,3}
研发团队：JSK
硬件平台：后期 X86_64 (4-core Core i7 2600K 3.40 GHz and 8GB memory)
通信方式：早期\cite{2}使用 四路RS422 (控制电机与传感器)，六维力使用单独的一个PCI板。/ 后期\cite{3} 使用了ethercat控制电机，然后传感器继续用串口（可能也是RS422）为了兼容它自制的控制板，ethercat被一个设备中转至电机控制板
控制频率：早期（未知）/ 后期 1000Hz
软件环境：早期实时linux(artlinux) / 后期 实时linux+OpenRTM+ROS
其他：SCHAFT Inc是JSK的
关节分布：脚（6DOF），无手
ICUB\cite{4,5}
研发团队：IIT
硬件平台：X86_64 (Intel Core 2 Duo 2.16 Ghz + 1GB DDR2-533/667 RAM)
通信方式：多路can，也可以ethernet
控制频率：大于1khz
软件环境：实时linux+YARP (也可以和ros)
控制方式：可以力矩控制
其他：CCUB
关节分布：脚（6DOF），手(7DOF)
ESCHER\cite{6}
研发团队：TREC (The Terrestrial Robotics Engineering & Controls Lab) at Virginia Tech
硬件平台：X86_64 (a quad-core i7 processor nominally operating at 3.2 GHz)
通信方式：四路can（电机与六维力）与多路RS485（舵机与传感器）与USB（九轴）等
控制频率：150Hz
软件环境：ROS(linux不知道是不是RT)
控制方式：可以力矩控制
其他：DARPA比赛 24/24 0分
关节分布：脚（6DOF），手(7DOF)
RoboSimian\cite{7}
研发团队：Jet Propulsion Laboratory
硬件平台：X86_64 (intel i7-4900MQ 2.8 GHz CPU and 16 GB of memory)
通信方式：ethercat
控制频率：1kHz(上层为串级控制，内环为1khz)
软件环境：实时linux
控制方式：位置控制
其他：DARPA比赛 5/24 7分
关节分布：每个Limb（7DOF）
WalkMan\cite{8}
研发团队：iit etc
硬件平台：X86_64 (intel i7)
通信方式：ethercat
控制频率：目前500hz 会实现到1khz
软件环境：软件环境与icub相似
控制方式：力矩控制
其他：DARPA比赛 17/24 2分
关节分布：脚（6DOF），手(7DOF)
DRC-HUBO+\cite{9,10}
研发团队：rainbow-robotics
硬件平台：X86_64 (Intel NUC i5 with SSD)
通信方式：四路can总线
控制频率： 200 Hz
软件环境：实时linux（使用xenomai）
控制方式：位置控制（很大可能）
其他：DARPA比赛 1/24 8分(KAIST) / DARPA比赛 8/24 6分(UNLV)
关节分布：脚（7DOF），手(8DOF)
THORMAN\cite{11,12}
研发团队：robotis
硬件平台：X86_64 (Intel i5 2.7 GHz quad core and 8 GB DDR3 RAM)
通信方式：多路RS485
控制频率： 100 Hz
软件环境：linux（不清楚实时）
控制方式：位置控制
其他：DARPA比赛 12/24 4分(SUN) / DARPA比赛 13/24 3分(THOR)
关节分布：脚（6DOF），手(7DOF)
valkyrie\cite{13}
研发团队：NASA JSC
硬件平台：X86_64 (i7-3615QE 2.3GHz + 16GB DDR3 1600)
通信方式：Robonet
控制频率： 1kHz
软件环境：实时linux
控制方式：力矩控制
关节分布：脚（5DOF），手(7DOF)
ACSELL\cite{14}
研发团队：Sandia Labs IHMC OSRF
硬件平台：X86_64 (i7)
通信方式：ETHERNET
控制频率： 1kHz
软件环境：实时linux + ROS
控制方式：力矩控制
软件源码：wandrr
关节分布：一共15DOF，无手
HRP-4\cite{15, 16}
研发团队：\href{http://global.kawada.jp/mechatronics/hrp4.html}{AIST KAWADA INDUSTRIES}
硬件平台：X86 (Intel® Pentium M® 1.6)
通信方式：多路can（10ch CAN IF Board）+ 一个独立的六维力控制板
控制频率： 200Hz
软件环境：实时linux + OpenRTM-aist
控制方式：位置控制
关节分布：脚（6DOF），手(7DOF)
LOLA\cite{17,18,19}
研发团队：TUM
硬件平台：X86_64 (Intel Core2 Duo Mobile, 2.33GHz)
通信方式：多路can
控制频率： 100Hz
软件环境：QNX real-time operating syste
控制方式：力矩控制
其他：具体数据见 Favot, V的毕业论文\cite{19}
关节分布：脚（7DOF），手(3DOF)
TALOS\cite{20}
研发团队：PAL-Robotics
硬件平台：X86_64 (dual i7 CPU at 2.8 GHz)
通信方式：ethercat
控制频率： 1kHz
软件环境：实时linux + ROS (并且关掉cpu的超线程 see: However, since the real-operating system used is RT-PREEMPT, only 4 CPUs are available on the control computer. They are anyway available on the computer for vision and high-level computation.)
控制方式：力矩控制
关节分布：脚（6DOF），手(7DOF)
DURUS\cite{21,22}
研发团队：AMBER LAB
硬件平台：X86_64 (Intel Core i7-3820QM processor (2.7 GHz) and 12 GB of RAM)(可能)
通信方式：ethercat
控制频率： 1kHz
软件环境：实时linux + matlab生成的实时代码
控制方式：力矩控制（欠驱动）
关节分布：脚（7DOF），无手
SAFFIR\cite{23}
研发团队：Office of Naval Research and Virginia Tech
硬件平台：X86_64 (AMD Embedded G-T56N, Dual-core 64 bit, 1.65 GHz 4 GB, DDR3, 1333 MHz)
通信方式：四路can
控制频率： 500Hz
软件环境：实时linux
控制方式：力矩控制
关节分布：脚（6DOF），手（6DOF）
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