# Hardware

The Asimov humanoid has 27 degrees of freedom. Currently only the 12 leg motors are enabled.

| Component | Count | Notes |
|-----------|-------|-------|
| Leg motors | 12 | 6 per leg, CAN bus |
| Arm motors | 12 | 6 per arm, disabled |
| Torso motors | 2 | Disabled |
| Hand/head motors | 4 | Disabled |
| IMU | 1 | BNO085, 500 Hz |
| Cameras | 3 | Arducam AR0234 |
| Compute boards | 2 | RK3588S2 + Intel N100 |

```{toctree}
:maxdepth: 2

specs/the-body
specs/the-brains
specs/the-senses
```