With further improvements and developments in Mark III, Mark IV was made. Mark IV weighed 3.8kg and it was fabricated using industry grade Aluminum. The bot had 18 degrees of freedom and it was run on 4th generation Intel Core i7 processor with an ARM Cortex M3 controller powered by Turnigy Nano Tech 3S Lipo battery (5000mAh). It was fully actuated using Smart Servos by Robotics, the Dynamixel MX-64T. Some of its other key features include a 9 DOF IMU, Vision Sensor, Encoders, Force Sensor, Temperature Sensor and Current sensor.