DARwIn-OP

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Simulation of a Darwin Op in the simulator Webot

The Darwin OP ( English D se Dynamic A nthropomorphic R obot w ith In telligence- O pen P latform ) is a miniature platform for humanoid robots with advanced computational speed, sophisticated sensors , high payload capability and dynamic mobility, developed and manufactured in Korea the robot manufacturer ROBOTIS in Collaboration with Virginia Tech , Purdue University , and the University of Pennsylvania .

DARwIn-OPs are mainly used in research and with programmers in the areas of humanoids, artificial intelligence , control algorithms, image processing, inverse kinematics , speech recognition , etc. Furthermore, it is supported with 1.2 million dollars in funding from the National Science Foundation and is currently available 14 different institutions one application.

With the DARwIn-OP, the DARwIn team became the winner of the Humanoid Kid Size League at the RoboCup 2011, 2012 and 2013.

construction

The DARwIn-OP consists of 20 DYNAMIXEL MX-28 high-performance networked motors with a braked torque of 24kgf.cm (at 12V, 1.5A). The MX-28 has a contactless absolute position encoder with 12-bit resolution and 360 degrees of freedom of movement with high stability. The MX-28 looks like the RX-28, but the internal structure is a completely new product.

Technical specifications

  • Height: 454.5 mm (17.90 in)
  • Weight: 2.9 kg (6.39 lb)
  • Running speed: 24.0 cm / s (9.5 in / s), 0.25 s / step (changeable)
  • Time to get up from the floor: 2.8 s (face down), 3.9 s (face up) (changeable)
  • Built-in PC: 1.6 GHz Intel Atom Z530 on-board, 4 GB SSD
  • Management controller (CM-730): ARM CortexM3 STM32F103RE 72 MHz
  • 20 MX-28 motors (6 DOF leg x2 + 3 DOF arm x2 + 2 DOF neck) with metal gears
  • 3 Mbit / s high-speed Dynamixel-BUS for the joint positions
  • 3-axis gyroscope, 3-axis accelerometer, 3 buttons, 2 microphones

commitment

This model is mainly used in the IEEE ICRA, RoboCup and FIRA .

The DARwIn-OP is used in the following facilities, among others:

Individual evidence

  1. ↑ http://www.robotis.com
  2. ↑ Sandeep Rai / Jun 22 2011: DARWiN robot to assist disabled by tracking their eye movement . Gizmowatch.com. June 22, 2011. Archived from the original on April 26, 2012. Retrieved on December 27, 2011.
  3. ^ Darwin-OP Learns To Play Dance Dance Revolution - IEEE Spectrum . Spectrum.ieee.org. Retrieved December 27, 2011.
  4. ↑ a b Me And My Robot Page 2 of 2 . Forbes.com. May 23, 2011. Retrieved December 27, 2011.
  5. ↑ a b Dennis Hong: Robotis DARwIn-OP Raises The Bar | Robot Magazine - The latest hobby, science and consumer robotics, artificial intelligence . Find.botmag.com. May 12, 2011. Retrieved September 1, 2017.
  6. ↑ RoboCup 2011 Kid Size: USA / Japan (Final) . YouTube. July 10, 2011. Retrieved December 27, 2011.
  7. ↑ Robot Soccer Stars Win World Cup Trophy for US - Video . Bloomberg. September 9, 2011. Retrieved December 27, 2011.
  8. ↑ http://www.cs.columbia.edu/~allen/F11/NOTES/RoboCup.pdf
  9. ↑ Tim Hornyak: US droids carry the day at 2011 RoboCup finals | Crave - CNET . News.cnet.com. July 12, 2011. Retrieved December 27, 2011.
  10. ↑ AX-12A, AX-18A, RX-24F, RX-28, RX-64, EX-106 +, MX-28
  11. ↑ ICRA 2012 Home Page . Icra2012.org. Retrieved December 27, 2011.
  12. ↑ Guillermo Cornejo L. - Grupo Fidalex: RoboCup Mexico 2012 . Robocup2012.org. Retrieved December 27, 2011.
  13. ↑ FIRA: FIRA News - [NOTICE] Special offer for FIRA teams . Fira.net. November 22, 2011. Retrieved December 27, 2011.

Web links