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RoboBuilder UXA-90 Humanoid Robot

The UXA-90 Humanoid Robot is a well-proportioned 1m tall robot humanoid. It has been designed with a structure similar to the ratio of the ideal human body. Since the skeletal structure of the robot imitates the one from a human, it is possible to produce humanlike movement patterns. Because it uses various programming sources, it can be controlled in a lot of different ways. The robot also has pre-programmed emotional gestures and mouth expressions with synchronized sounds. Users can create a new appearance for the robot using the various pre-designed source files. The source files provide details to assemble the structure such as size, position of devices, bolts and nuts. Robot application: education, performance and advertisement, service and research.


  • Well-proportioned 1m tall humanoid shaped robot
  • Fall detection algorithm utilizing a 9-axis IMU sensor
  • 300FPS vision processing at 320×240 pixels
  • Fully supports soccer mode for Robocup competition
  • Walking algorithm for biped humanoid robot with balancing control
  • Body design resembling Da Vinci\’s Vitruvian Man
  • Very good at kicking the ball and localizing the net
  • Speech and play sounds with 3W speaker
  • Recognize and track the color and shape of an object (e.g. an orange ball)
  • Real time distance calculations
  • Embedded automatic getting-up behavior function from the supine posture
  • Provide software tool for building performance motions easily
  • Performance motion can be fully synchronized with the sound source

Various Application

From a performance on stage to a presentation on behalf of a person, this robot does it all. In addition, the robot can be used to participate in a humanoid robot competition and can also be used as a platform in research for HRI and AI as well as education of programming.


  • Programming language & algorithm
  • Designing mechanism

Performance & advertisement

  • Dynamic dance in events
  • Robot plays in theater
  • Exhibition to promote products


  • Presentation
  • Providing information


  • HRI (Human Robot Interaction)
  • Artificial intelligence
  • Humanoid robot competition

Source Code and Libraries/Open Source

Windows based Object Recognition Software

  • Visual C# source code for tracking an object with vision processing
  • UXA90 can play soccer on its own at ROBOCUP competition

Management software tools

  • SAM control software for managing servos individually
  • Contents and motion building tool
  • Behavior pattern planning tool
  • Motion management tool

Android based

  • Android app for control and build
  • Android app controls and creates behavior and motion patterns wirelessly

Linux Based (under development)

  • R.O.S-based framework
  • Gazebo for 3D rigid-body dynamics simulation
  • RVIZ plugin for 3d visualization environment


Degrees of Freedom(DOF)

  • 23 DOF
  • 12 DOF Leg, 8 DOF Arm
  • 1 DOF Waist, 2 DOF Head

4-DOF Arm (x2)

  • Elbow: 2 DOF SAM30 x2
  • Shoulder: 2 DOF (SAM160 x1/ SAM100 x1)

6-DOF Leg (x2)

  • Hip: 3 DOF (SAM160x1 / sam210 x2)
  • Knee: 1 DOF (SAM210 x1)
  • Ankle: 2 DOF (SAM210 x2)
  • 1-DOF waist (x1): 1 DOF (SAM160x1)
  • 2-DOF head (x1): 2 DOF (SAM30 x2)


  • Inertial: IMU 2g 9axis, – 180 degree (roll/yaw), -90 degree (pitch)
  • FSR module (optional) x2: 4 sensors in each foot


  • CPU: AMD E2-1800 Processor dual-core 1.7GHz
  • Storage: 64GB (SSD)
  • Wireless: 802.11 b/g/n

External interfaces

  • USB 2.0 x2, Ethernet 10/100/1000 Base T
  • USB 3.0 x2, HDMI x1


  • Speaker (x1): Front
  • Microphone (x1): In vision camera
  • Vision camera: Logitech C905/ HD 1600×1200 PX


  • Type: LiPo 18.5V, 3000mA
  • Operating duration: 20min (frequent movement) / 40min (stand-by)
  • Charging time: 30min

Operation System

Windows based

  • Easy motion building software/ soccer mode C# application / MSRDS samples with Kinect sensor
  • Autonomous soccer mode, performance mode, presentation mode
  • Pre-programmed walking and performance motions

Linux based

  • ROS base middleware package
  • Gazebo for 3D rigid body dynamics simulation
  • RVIZ plugin for 3D visualization environment
  • Walking / Grasping / Recognition Control


  • Height: 100cm
  • Width: 35cm
  • Weight: 9.5kg/20lb
  • Walking Speed: 30cm/s, Full step walking forward

Additional information

Weight 20 lbs
Dimensions 13.8 × 39.4 in
Degrees of Freedom(DOF)

23 DOF


Inertial: IMU 2g 9axis, +- 180 degree (roll/yaw), +-90 degree (pitch); FSR module (optional) x2: 4 sensors in each foot


AMD E2-1800 Processor dual-core 1.7GHz




64GB (SSD)

Wireless Module

802.11 b/g/n

External interfaces

USB 2.0 x2; Ethernet 10/100/1000 Base T; USB 3.0 x2; HDMI x1


Speaker (x1): Front; Microphone (x1): In vision camera; Vision camera: Logitech C905/ HD 1600×1200 PX


LiPo 18.5V, 3000mA

Operation Time

20min (frequent movement) / 40min (stand-by)

Operation System

Windows based; Linux based


Height: 100cm; Width: 35cm; Weight: 9.5kg/20lb

Walking Speed

30cm/s, Full step walking forward


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