Soccer Robot “Musashi”
| Size | 500 × 500 × 800 [mm] |
| Weight | 30.0 [kg] |
| Actuator | DC-Motor × 3 (24 [V], 150 [W]) |
| Battery | Ni-MH Battery × 2 for motioning |
| Kicking Device | Solenoid coil |
| Shoot Speed | 1.5～5.0 [m/s] |
| Maximum acceleration | 2.1 [m/s2 ] |
| Maximum Speed | 3.5 [m/s] |
| Sensor | Omni-directional camera × 1 Electrical compass × 1 DC-Motor Encoder × 5 |
| Motor Driver | EPOS2 70/10 × 3 EPOS2 50/5 × 2 |
