The jaw unit. It is a black structural part integrated with a single-axis actuator. The white part is the lower jaw of the aibo and contains a touch sensor. The small PCB (center) is a driver board that drives the single-axis actuator for moving the right and left ears, and the PCB is equipped with a control microcomputer, motor driver chip, etc. The motor of the single-axis actuator can be seen under the PCB.
The jaw unit. It is a black structural part integrated with a single-axis actuator. The white part is the lower jaw of the aibo and contains a touch sensor. The small PCB (center) is a driver board that drives the single-axis actuator for moving the right and left ears, and the PCB is equipped with a control microcomputer, motor driver chip, etc. The motor of the single-axis actuator can be seen under the PCB.

Assembly of 'Aibo' Robot Dog (5)