ROBOBUILDER UXA-90 HUMANOID ROBOT

Description

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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.

Features

• 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.

Education

• Programming language & algorithm
• Designing mechanism

Performance & advertisement

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

Service

• Presentation
• Providing information

Research

• 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

Specifications

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)

Sensors

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

Computer

• CPU: AMD E2-1800 Processor dual-core 1.7GHz
• RAM: 2GB DDR RAM
• 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

Interfaces

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

Battery

• 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

Dimensions

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