Continuing to work on a humanoid helper robot called ARMAR, the Collaborative Research Center 588: Humanoid Robots at the University of Karlsruhe began planning ARMAR-IIIa (blue) in 2006. It has 43 degrees of freedom (torso x3, 2 arms x7, 2 hands x8, head x7) and is equipped with position, velocity, and force sensors. The upper-body has a modular design based on the average dimensions of a person, with 14 tactile sensors per hand. Like the previous versions, it moves on a mobile platform. In 2008 they built a slightly upgraded version of the robot called ARMAR-IIIb (red). Both robots use the Karlsruhe Humanoid Head, which has 2 cameras per eye (for near and far vision). The head has a total of 7 degrees of freedom (neck x4, eyes x3), 6 microphones, and a 6D inertial sensor.