In the mid-20th century, professor Ichiro Kato of Waseda University studied humanoid robots. He initiated the WABOT project in 1967, and in 1972 completed the WABOT-1, the world's first full-scale humanoid intelligent robot. WABOT-1 had two arms, walked on two legs, and saw with two camera eyes. It was thus the first android. Its limb control system allowed it to walk with the lower limbs, and to grip and carry objects with hands, using tactile sensors. Its vision system allowed it to measure distances and directions to objects using external receptors, artificial eyes and ears. Its conversation system allowed it to communicate with a person in Japanese, with an artificial mouth. Japan has since been leading the field of robotics.