Further Analysis

CHARLI-2 statistics (at-at-a-glance)

Overall Height: 1410mm
Overall Width (arms ext): 1354mm
Leg Length: 775mm
Foot Width: 140mm
Weight: 12.1kg

CHARLI-2 Servo Specs
LEGS
Servo used: EX-106+
Leg Actuators quantity: 18
Leg actuator Weight: 0.154kg
Total Leg Actuator Weight: 2.77kg
Torque each: 10.5Nm
Torque x2 per joint: 21Nm
Rpm: 69.93
Torque after 1:3 gear reduction:63Nm
Rpm after 1:3 gear reduction: 23.31

ARMS
Servo used: RX-64
Arm RX-64 Actuators quantity: 4
Arm RX-64 actuator Weight: 0.125kg
Total RX-64 (4x) Weight: 0.5kg
Torque each: 6.27Nm
Rpm: 61.73


ARMS
Servo used: RX-28
Arm (RX-28) Actuators quantity: 4
Arm RX-28actuator Weight: 0.072kg
Total RX-28 (4x) Weight: 0.29kg
Torque each: 3.6Nm
Rpm: 79.36

TORSO/WAIST
Servo used: EX-106+
Torso Actuators quantity: 1
Torso actuator Weight: 0.154kg
Total EX-106+ (1x) Weight: 0.154kg
Torque each: 10.5Nm
Rpm: 69.93

HEAD
Servo used: RX-28
Head Actuators quantity: 2
Head actuator Weight: 0.072kg
Total RX-28 (2x) Weight: 0.144kg
Torque each: 3.6Nm
Rpm: 79.36

The remaining mechanical/structural & electronics accounts for 68.1% (8.24kg) of total weight.

All-Up-Weight of body parts
LAYOUT: Each/%/Total/%
Thigh: 1.729/14.29%/3.458/28.58%
Shin: 0.783/6.47%/1.566/12.94%
Foot: 0.886/7.32%/1.772/14.64%
Torso: 3.565/29.46%
UpperArm:0.372/3.07%/0.744/6.15%
Forearm: 0.411/3.4%/0.822/6.79%
Head: 0.212/1.75%

All-Up-Weights (Kg/%)
Entire legs weight: 6.796kg/56.17%
Torso: 3.565kg/29.46%
Entire arms weight: 1.566kg/12.94%
Head: 0.212kg/1.75%

Servo Weight Totals (Overall%)
Legs: 2.77kg (22.9%)
Torso: 0.154kg (1.27%)
Arms: 0.79kg (6.53%)
Head: 0.144kg (1.19%)
TOTAL: 3.86kg (31.9%)

Structural Weight-kg/% (no servo's)
Entire legs: 4.03kg/33.3%
Torso: 3.411kg/28.19%
Entire arms: 0.776kg/6.41%
Head: 0.068kg/0.56%
TOTAL: 8.285kg (68.47%)

Summary;
Legs structure: 4.03kg/33.3%
Legs servo's: 2.77kg (22.9%)
Legs AUW: 6.796kg/56.17%

Torso structure: 3.411kg/28.19%
Torso servo: 0.154kg (1.27%)
Torso AUW: 3.565kg/29.46%

Arms structure: 0.776kg/6.41%
Arms servo's: 0.79kg (6.53%)
Arms AUW: 1.566kg/12.94%

Head structure: 0.068kg/0.56%
Head servo's: 0.144kg (1.19%)
Head AUW: 0.212kg/1.75%