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DARwIn OP

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DARwIn-OP

DARWIN-OP which stands for Dynamic Anthropomorphic Robot with Intelligence–Open Platform is a miniature-humanoid robot platform with advanced computational power, sophisticated sensors, high payload capacity, and dynamic motion ability developed and manufactured by Korean robot manufacturer ROBOTIS in collaboration with Virginia Tech, Purdue University,and University of Pennsylvania. DARWIN-OP has twenty degrees of freedom [20 DOF] each controlled by a DYNAMIXEL MX-28T servo motor. The MX-28T has a stall torque of 24 kgf·cm (at 12 V, 1.5 A) and a 360 degree range of motion.

Contents

With the release of the ROBOTIS OP2, the name of DARwIn-OP has also changed. [1]

DARWIN-OP's main purpose is for research and programmers in the fields of humanoid, artificial intelligence, gait algorithm, vision, inverse kinematics, linguistics, etc... It is also supported by $1.2 million NSF grant and has been distributed to over 14 institutions already.

DARWIN-OP is also the winner of the Kid Size League in the RoboCup 2011 2012 League, and 2013 League.

DARwIn-OP

  • Discontinued and replaced with ROBOTIS OP2 - new specs below
  • Height: 454.5 mm (17.89 in)
  • Weight: 2.9 kg (6.4 lb)
  • Default walking speed: 24.0 cm/s (9.5 in/s) 0.25 s/step – user modifiable gait
  • Default standing up time from ground : 2.8 s (facing down) and 3.9 s (facing up) – user modifiable speed
  • Built-in PC: 1.6 GHz Intel Atom Z530 (32 bit) on-board 4 GB flash SSD
  • Management controller (CM-730): ARM CortexM3 STM32F103RE 72 MHz
  • 20 MX-28T actuators (6 DOF leg × 2 + 3 DOF arm × 2 + 2 DOF neck) with metallic gears
  • 3 Mbit/s high-speed Dynamixel bus for joint control
  • 3-axis gyro, 3-axis accelerometer, button × 3, detection microphone × 2
  • Versatile functionality (can accept legacy, current, and future peripherals)
  • Price: $12,000

    • ROBOTIS OP2

  • Height: 454.5 mm (17.89 in)
  • Weight: 2.9 kg (6.4 lb)
  • Default walking speed: 24.0 cm/s (9.5 in/s) 0.25 s/step – user modifiable gait
  • Default standing up time from ground : 2.8 s (facing down) and 3.9 s (facing up) – user modifiable speed
  • 20 MX-28T actuators (6 DOF leg × 2 + 3 DOF arm × 2 + 2 DOF neck) with metallic gears
  • CPU : Intel Atom Processor N2600 (dual core, 1.6 GHz)
  • RAM : 4GB (DDR3 204-pin SO-DIMM module), user-replaceable
  • SSD : SSD / mSATA module (unlimited space), user-replaceable
  • OS : Linux and Windows
  • User-accessible ports : 2 x USB2.0, mini HDMI, LAN (gigabit), mic/audio line in,out)
  • Price: $9,600

    • Different Applications

    Many source codes are being shared and are open. * [2] (English)

    Competitions

    This platform is currently used in the ICRA, RoboCup, FIRA, and Humabot competition. Links below.

  • IEEE ICRA Robot Challenge
  • RoboCup
  • FIRA
  • IEEE Humanoids

    • ICRA Humanoid Application Challenge

    Beginning in 2012 ROBOTIS and IEEE ICRA has sponsored the DARWIN-OP Humanoid Application Challenge, held at the ICRA conference. The competition encourages participants to solve novel problems using DARWIN-OP and present their findings at the conference. Winners are selected by a panel of experts as well as popular vote amongst the participants. The winning team has been awarded the DARWIN-OP Deluxe Edition for two consecutive years along with software(s). All finalists are also rewarded. As of 2015, the challenge name has changed to Humanoid Application Challenge and is now open to all applications.

    RoboCup

    The DARWIN-OP robot is currently used by several teams in the RoboCup kids-size competition (humanoid robots 40–60 cm tall) and have shown excellent performance by the teams using this platform.

    FIRA

    DARWIN-OP robots are used by some teams in the kids-size HuroCup competition at FIRA. A team from the University of Manitoba won best overall at the 2013 competition using a DARwIn-OP.

    Community

    Due to its openness and easy maintenance, many researchers favor and hope to create a clone version of their own. DARWIN-OP is currently being used at the labs/universities below :

  • RoMeLa UCLA Website
  • GRASP University of Pennsylvania Website
  • ARTLAB Purdue University Website
  • Bold Hearts University of Hertfordshire Website
  • Hamburg Bit-Bots Hamburg University Website
  • NUBots University of Newcastle (Australia) Website
  • UKM Soccer Robotic Laboratory Universiti Kebangsaan Malaysia Website
  • University of Manitoba Autonomous Agents Laboratory Website
  • Commissariat à l'énergie atomique et aux énergies alternatives- Marcoule - Website
  • École normale supérieure de Rennes Website
  • Virginia Tech [3]
  • DASL University of Nevada, Las Vegas [4]

    • References

    DARwIn-OP Wikipedia
    (Text) CC BY-SA


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