BIOLOID Premium Robot Kit

€1,260.16

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Τώρα μπορείτε να δημιουργήσετε διάφορους τύπους ρομπότ, όπως Αράχνη, Δεινόσαυρο, Humanoid.

Η Bioloid PREMIUM συνδυάζει ένα ευέλικτο σύστημα κατασκευής με ένα ευφυή Micro Controller.

Είναι ευέλικτη σχεδίαση και επιτρέπει την κατασκευή ς απεριόριστων σχήματων ρομπότ: υπάρχουν 29 τεκμηριωμένα σχήματα από τα απλά τροχοφόρα ρομπότ μέχρι προχωρημένα ανθρωποειδή και εξάποδα. Μπορείτε επίσης να επεκτείνετε το ρομπότ και να δημιουργήσετε το δικό σας προσαρμοσμένο σχέδιο, χρησιμοποιώντας το ευέλικτο
Frame Assembly system.

Το Kit PREMIUM βασίζεται στην δημοφιλή σειρά Bioloid των προϊόντων και περιλαμβάνει προηγμένους αισθητήρες (όπως η GS-12 Gyro για τη σταθεροποίηση Walk), μπαταρία LiPo, CM-530 Controller με 32 bit ARM Cortex M3 επεξεργαστή, εγγενή υποστήριξη USB, νέα υλικά πολά περισσότερα.

Προηγμένη Τεχνολογία:
Το Bioloid κιτ ρομπότ σχεδιάστηκε ώστε να δίνει ενα πλήθος απο κινήσεις.
Το κιτ περιλαμβάνει 18x AX-12A servos που προσφέρουν υψηλή ισχύ και υψηλή αξιοπιστία. AX-12A είναι ένα από τα πιο δημοφιλή servos.

Όλα τα Σέρβο και Εξαρτήματα θα δικτυωθούν και θα συνδεθούν με το Intelligent Micro Controller μέσω του Dynamixel Bus. Αυτό είναι ένα one-wire, High Speed ​​Digital Bus που τρέχει με την ταχύτητα του 1 Mbps και προσφέρει ακριβή επικοινωνίας και ελέγχο.

     CM-530 μικροελεγκτή
 Ο "εγκέφαλος" του ρομπότ, δίνει εντολές σε όλα τα σέρβο και αισθητήρες λειτουργίας μέσα απο προ-προγραμματισμένες κινήσεις . Ο CM-530 είναι ένας από τους καλύτερους mikrocontroller  για Bioloid ρομπότ .Διαθέτει μια 32 bit ARM Cortex M3 μικρο-ελεγκτή (STM32F103RE) με  υποστήριξη USB.
     Επιπλέον, ο CM-530 περιλαμβάνει 6x Εξωτερικές A / D θύρες και μια διεπαφή για την ασύρματη επικοινωνία υποστήριξη IR, Zigbee και Bluetooth.

  •  
    • 32 bit Arm Cortex M3 processor (STM32F103RE)
    • USB port for PC connection
    • 6 GPIO / A/D ports for expansion with Robotis sensors or third party sensors
    • Communications port compatible with IR,  Zigbee (ZIG-110A) and Bluetooth (BT-110A).
    • Embedded Mic and Buzzer
    • Support for LiPo batteries: cut-off mechanism and real time battery level reporting.
    • 5x 3pin Dynamixel bus ports (TTL).
    • CM-530 Controller details on the Robotis Support Site
       
  • AX-12A Servo Motors
    The included AX-12A servos offer high torque and reliability and are one of today's most popular servos among Robot enthusiasts and Research projects world wide.
    The servos connect to each other in a Daisy Chain and communicate over the Dynamixel bus, a High Speed (1 Mbps) networked digital bus.

    Specifications at 12V:

    • Reduction Ratio: 1/254
    • Torque: 15kg.cm
    • Speed: 0.196sec/60deg

Ισχυρά εργαλεία προγραμματισμού
Το Roboplus είναι μια σουίτα λογισμικού που χρησιμοποιείται από την Bioloid Kit PREMIUM. Είναι πλήρες εξοπλισμένο λογισμικό και χρησιμοποιείται για τη διαχείριση του ρομπότ σας ώστε να δημιουργήσετε νέες κινήσεις και αυτόνομη συμπεριφορά:

  • RoboPlus Motion to develop new Motions for the Robot
    • Catch-and-play functionality
    • 3D Motion Editor
    • Inverse Kinematics Engine
    • Interoperability with Microsoft Excel letting you design and fine tune motions and servo positions based on your calculations.
       
  • RoboPlus Task to develop Autonomous Behaviours for the Robot
    Advanced Graphical Programming tool that combines ease of use and power.
       
    You use constructs of structured programming - variables, LOOPs, IFs, and FUNCTIONS - in a Graphical, Easy to Use environment.
     
    Task includes an additional feature - a CALLBACK function (called every 8 ms) - that simulates Task Switching. It's purpose is to enable real time adjustments of walk and motions based on sensorial feedback (such as readings from the Gyro for Dynamic Stabilization).
     
  • RoboPlus Manager and RoboPlus Terminal

    Manager is designed to manage your Robot, and brings together all the features of Firmware Management and Dynamixel bus debugging and interaction. It offers a unique view of all devices on the bus letting you view (and modify) the various parameters of each device in real time.

    Terminal is the classic Robotis Terminal where you can interact directly with the Robot. It can also be used to view Debug output from RoboPlus Task Programs.

Advanced Sensorial Input:
The PREMIUM Kit includes a comprehensive range of sensors for improved autonomous behaviour:

  • 1x DMS Sensor (Sharp IR Distance Sensor for reliable Distance Measurement and Obstacle Sensing)
  • 2x IR Sensors (for Obstacle Sensing, Edge Detection and Ambient Light Detection)
  • Sound Sensor and Buzzer (built in the CM-530 controller)
     
  • Gyro Sensor for Balancing / Stabilization:
    The kit includes with a 2 axis Gyro that connects to the CM-530 A/D sensor ports.
    A typical usage for the Gyro is Self Balancing / Stabilization . Sample Source Code of Walk Stabilization is written in Roboplus Task and available for enhancement and modification.

    Gyros can also be used for many other purposes and a maximum of 3 Gyros per Robot are supported for advanced/custom designs.
     

  • In addition, the PREMIUM Kit supports connecting other (third-party) A/D sensors directly to the CM-530. Details here.

For maximum flexibility and extensibility, the sensors can be assembled individually on any part of the Robot using specific frames and connect to the A/D ports on the CM-530 controller.

 
Valuable Features:

  • USB Connection to the PC
     
  • LiPo Battery
    The Robot is equipped with an 11.1V LiPo battery (1000 mAh) which is assembled outside the Robot (bellow the Controller).
    This modification improves the Robot behaviour in many different ways:
    • Lower center centre of gravity
    • Increased run times on a full charge
    • Easy exchange of batteries, ideal for long periods of use such as demonstrations and especially competitions.
       
  • RC100 Gamepad (with Zigbee or IR)
    The RC100 is the Robotis interpretation of a Playstation-style gamepad.
    This Gamepad is now included with all PREMIUM kits and is fully supported by the Roboplus Suite. It can work over Infrared or Zigbee for maximum performance and reliability.
     
  • Human Like look and feel, fully customizable
  • Easy Cable Routing System prolongs cable life and eases maintenance.
  • Light Weight, Strong Frames

 
Additional Information and Documentation:

Additional Manuals and Information can be found on the ROBOTIS Online Tech Support Site here http://support.robotis.com/en/

  • Bioloid PREMIUM on the ROBOTIS Tech Support Site
    Tutorials, Sample Code and Misc. Information about the PREMIUM Kit. After accessing the page, explore the Menu on the left side of the page to access all the information.
     
  • RoboPlus Software Suite (Motion, Task, Manager, ...)
    Introduction and Tutorials about Roboplus
     
  • Connecting Other (Third Party) Sensors to your Bioloid
    Information about the Pinout of the A/D ports and how to use them. Sample Roboplus Code is supplied.

For in depth information about the Robot, the included parts and the Software refer to the ROBOTIS Online Tech Support Site.


Kit Contents:



Additional Offers / Extras included Free of Charge:
The Bioloid PREMIUM is supplied following additional goodies free of charge:
  • Zig110 Upgrade for Wireless Zigbee Remote Control
    (offered by Robotis)

Χ

Introduction

Robotis sent us one of the pre-launch boxes of the new Bioloid Premium kits. It is a pre-launch box meaning that the packaging, the parts, the software and electronics are all final. The only thing really missing is the final documentation. We received also two extra bits that are not going to be included in the retail box. The metal feet and the Zig100 zigbee module pair.

The Bioloid Premium Kit has many things in common with the Bioloid Comprehensive kit. Robotis have taken many aspects of the Comprehensive kit and upgraded them. The Bioloid Comprehensive Kit that has been with us for a few years and is still one of the best general purpose robotics kit with a large support community around the world. Robotis is planning to continue shipping the Comprehensive kit. The Premium kit will be more expensive than the Comprehensive and there will be an upgrade pack that will allow Comprehensive kit owners to upgrade to Premium.
The Premium box art includes text in the three main target languages - Korean, English and Japanese. It is better geared to catch the eye when displayed in a shop.


Opening the Box

The first thing we noticed about the box is that its shape and content have been redesigned. The Premium box width and height are smaller but has more in depth. [ Shape and weight distribution play an important role when shipping individual boxes. The more the box measurements are closer to a cube and the weight inside it is distributed homogeneously, the more it is likely to survive the abuses of couriers. This matters mainly to online distributors who prefer the boxes to arrive in perfect shape to their customers.]
The content is well laid out and items are segregated intelligently to ensure excessive motion and hardship during shipping doesn't damage the content.

There are two layers in the box. The bottom one has 4 small boxes containing the different brackets. The top one has all the rest.

First thing we did is lay out all the parts on a table.


The Manual

The included quickstart guide is split into two parts. First part is written in English, Korean and Japanese. The second half of the document is completely pictorial and mostly without any writing. Origami style. There are 3 documented humanoids in the QuickStart guide. We chose to construct Humanoid type B with 16 servos.


The Battery

Yuntong LiPo solution
The charger is a 2S and 3S LiPo charger from Yuntong. The LiPo battery pack is in plastic enclosure. The NiMh battery of the Bioloid Comprehensive kit is charged by the CM5 controller board (with a special charging software that runs from the bootloader). The Premium CM510 controler board is not involved in charging which is performed by a dedicated LiPo charging device. The charger is from the same manufacturer of the batteries - Yutong.
The Bioloid Premium kit's LiPo battery is rated 1000mAh (mAh = milli-amps hour) and is probably of type 10C3S1P (to be confirmed). This means that if the battery were to be discharged at 1amp it would take 1 hour to completely discharge. We know it is a 3S battery because it is charged through the 3S charger's port with the 3S label (and the 3 cells are visible through the plastic coating). So it means it is internally composed of 3 batteries attached to each other in series; each one 3.7V (industry standard) and together 11.1V. It seems that this is a 10C battery which means that it is guaranteed to output 10amps continuously if necessary for 1/10 of an hour until it is discharged. LiPos can also output 2-3 times that much in small bursts, which for walking robots is great because of the high bursts of current needed to hold a servo position when a walking robot's leg hits the floor for example or during a Robo-One fight.
The AX12 servo consume about 100mAh up to 1000mAh. So an 18 servo humanoid robot will probably last about 30 minutes when not doing much. (during our initial use and test of the robot we kept it on for well over half an hour). When it continously walks or fights in a competition, it may probably consume on avarage 6amps meaning 10 minutes of continuous use.
The battery pack comes with an internal PCM (Protection Circuit Module) under its protective red plastic wrap, which is a small PCB that, in order to prevent charge/discharge disasters associated with LiPo, prevents over-charging, over-discharging and ensuring discharging current doesn't exceed maximum allowed.
The battery casing has been designed to allow easy replacement of battery by sliding the case open side ways. This is very useful for long hours of robotic tweeking or during competitions. The old CM5 setup had the battery inside a single block with the controler PCB board and required a few screws for battery extraction. The new setup has seen separation between the controler block and the battery block. This also acheived the lowering of the center-of-mass of the humanoid robot which helps in passive stability.



The CM510 Controler Block

The CM510 is the name of the new controler block. The PCB board is similar to the Bioloid Comprehensive CM5 in shape and exposed input buttons. The CM510 board is based on Atmega2561 rather than Atmega128, meaning twice the memory for programs, motions and bootloader. The CM510 plastic container block is smaller than the CM5 block (which contains space for the battery).
The 6 sides of the block expose various interfaces including 6 analog ports. The old CM5 didn't expose any I/O ports of the Atmega128.

Left to right: Power Supply (you can also run the robot off the mains power); LiPo; AX12 bus; 4-pin TTL serial interface Infrared or zig110; RS232 headphone jack interface

On the left is an I/O port two horizontal lines each one 5 pins GND, 5V, Analog sensor input. The right port is for the AX12 bus.

The fuse (which protects the servos from burning by limiting the maximum current going out to the servos) is tiny and external. Changing the fuse on the old CM5 required taking the block apart and exposing the PCB. Making the fuse externaly accessbile and much smaller is a clever design improvement.

The top of the CM510 box is similar ot the CM5 with 6 button inputs and 7 LED indicators and an on/off switch. Note that the text on the sides mark the side port interfaces.

The USB2Dynamixel (direct PC control)

The USB2Dynamixel is a mandatory device to all Bioloid owners or those who would like to learn how to to work with Robotis servos. The device plugs into the PC's USB port and to the Dynamixel bus. Robotis has a couple of standards for Dynamixel enabled servos. The AX series servos work at half-duplex UART and the RX and DX servos work at full duplex. [Dynamixel protocol is single-master so full-duplex may allow some speed improvement through parallelization of back/forth packets and provides less chance of interferences with longer cable and more elements on the bus.]
The PC sees the Robotis servos through an emulated serial port (FTDI chip on the USB2Dynamixel module) and there are several tools and SDKs to communicate with the servos directly from the PC.


The RC110 Gamepad and Zig110 interface

The RC110 is a gamepad designed for remote-controling the robot. It allows for any keys and key combination to be sent over to the robot's controller in order for it to execute whatever motions. The great innovation about the new RC110 is that it can either work with Infrared or it can work with Zigbee. (Pictures included later regarding how to



The Gyro sensor
For the first time Bioloid PREMIUM includes a Gyro for Stabilization of the Walk.

This is a 2 axis gyro that connects to the new A/D ports available on the CM510.

The CM510, as mentioned, includes 5 new external A/D ports that can be queried via Roboplus.
This means you can actually extend the robot with other sensors from third parties (such as Sparkfun) including Accelerometers (to let the robot get up when it falls) or full 5 Axis IMUS.

All you need is a set of Cables to connect to the CM510 and then do the necessary prep work (ie soldering on the SF boards) to get a fully functional system.
The CM510 ports even offer GND and +5V (in addition to the Analog signal pin to read the input voltage) so you can conveniently power the sensors directly from the CM510 port/cable.


1 OUT : 5V Output
2 VCC (5V)
3 ADC : Can read analog signals made by users.
4 GND
5 NC : Not used

The limit is really your imagination, overcoming one of the Comprehensive major limitations (inability to add A/D sensors out of the box or without adding third party boards).

More information on how to do this can be found here http://support.robotis.com/en/product/bioloid/premiumkit/usefullinfo/cm-510_usersensor.htm


The Infrared Sensors

The Premium kit comes with 4 infra red sensors. One of them (here on the right) is the RC110 receiver. The other three are distance sensors. The Sharp distance sensor is very popular in the hobby electronics world providing accurate measurement to within milimeters upto a range, in this case, of 80cm. It is intended to be fitted onto the Humanoid's chest. The other two Ir sensors are intended to be fit onto the Humanoid's feet or sholders. The Bioloid Comprehensive kit came with a single module AX-S1 that incorporated three distance sensors in 3 directions. The Premium kit setup allows for more liberty as to where to fit the distance sensors.
One interesting addition is the inclusion of OLLO connectors to attach the Ir modules onto the Robotis servos and brackets. OLLO is a "lego" like set for children to build motorized and animated critters with various patented connectors and it now shares some parts with Bioloid. Robotis have integrated the OLLO technology into the Bioloid. This integrative approach is also shown in the new software that is compatible with both the Bioloid and OLLO product lines.