R o b o K i n d S p e c i f i c a t i o n s
Contents
1. e Control the robot from your own not included computer No computer included with R 20 e AC adapter Compatible with 110v or 220v e Stable desktop base R 30 Expressive Face and gestural non walking body e Expressive arms and waist turn e Expressive face Einstein Geo and Zeno as described above e Expressive only version of our R 50 body designs Einstein Geo and Zeno have the same body designs For Alice we provide a female proportioned body e Base is an enclosed box holding the electronics e Control the robot from your computer e USB connects to your computer to control the robot e Control the robot from your own not included computer No computer included with R 20 e AC adapter Compatible with 110v or 220v e Stable desktop base R 40 Walking body non expressive face e Geo face without expressions but with moving eyes e Body specifications are the same as above R 50 Walking body with Expressive face e Body specifications are the same as described above e Expressive face Einstein Geo and Zeno as described above e Body differences RoboKind Product Descriptions e Einstein Geo and Zeno have the same body designs e For Alice Hanson RoboKind will provide a female proportioned body if requested Software e Software supplied with all models e Works with all platforms e Open source Our software will be released under the BSD license Some modules may be covered under GPL2. Contents Head Specifications iesire ienee E ate tcs 2 Walking Body Specifications for R 40 and R 50 oo eee cece ee cee cence cece ee ee cnet eens ee eaeeaeeeeaeeenaes 5 RoboKind Product Descriptions 0 c ccc cece eee cece eee cee eee nent eee ene eee ented ene nena eneeaenaenaes 10 Miscellaneous aia dhe deund edad eae ytd vais Ammen A AANE E shaw I RAR mene ane EAE E 11 Head The RoboKind robots provide an expressive face miniaturized to operate with a 2 foot tall walking body together with software development tools Note The heads are only available bundled with bodies e With R 20 non moving body R 30 expressive arm body or with the R 50 walking body e Available with rapid interface for changing heads out quickly e All heads but Geo have 10 degrees of freedom Simple interface to the head e The head detaches from the body by means of one simple button and a sliding mechanism and a single electronic connection e Easily removable from body head can be attached to other bodies e The mechanical interface designs are to be released open source so you can design to our interface Motorized vision control e Eye actions plus neck actions for tracking and gesture e The Eyes move independently and contain 2 separate cameras for true binocular stereovision e Useful for visual motion information gathering and for expression Natural eyelid action e Blink for expressions impression of life e Can be used f
3. patented Frubber a biomimetic polymer combined with psychology artistry and robotics to achieve lifelike expressions in a low power robust package e Smile Frown e Brow raise Scowl e Eyelids blink e Left eye turn e Right eye turn e Eyes up down e Jaw mouth opening e Head pitch nod e Head roll tilt e Head yaw turn Walking Body Specifications for R 40 and R 50 Optional body offered with RoboKind models R 40 and R 50 walks dances and gestures e Dynamically stabilizes using inertial sensors and on board computer e Uses Dynamixel servos with Maxon motors e Includes a PC computer running robot control software for plug and play functionality Includes software for e Speech recognition and speaking e Animation including expressions e Walking control Vision including face tracking Includes an API and rapid development tools for programmatic control e Different heads easily snap on and off including the expressive faces e Expressive arms hands with optional grasping hands e Different genders coloration for different ethnicities and styles Heads can fast swap out e Slide on and off with a quick change mechanism e Exchangeable heads utilizing Geo head Alice Zeno Einstein or other heads Height e With heads 23 5 60cm to 25 63 5 cm e Body without head 18 45 5 cm Weight e Body with head under 6 5 kg e Body without head under 5 kg Twenty fi
4. or other licenses while some peripheral components may be subject to proprietary third party licenses e Easy to use Easy to use even for both for the technophobes and the techno savvy Easily animate and control facial expressions Straight forward modular API e Animation editor and authoring tools Easy to use no technical experience needed Comes loaded with a library of ready made animations and expressions Powerful time line animation editor to generate your own animations and expressions Text to Speech with automatic lip syncing Import sound files for custom synchronizing e Out of the box functionality Automated demo mode with simple start up Walking Talking Vision based tracking and Speech command recognition Storytelling Dancing and engaging Animations Useful for some experiments with little or no additional development e Tools for research experiments Easily animate and control facial expressions body gestures and interactivity for Psychology experiments Software API allows for data capture and advanced controls e Open API Powerful animation API for optional custom control of the robot s motion for interface with your software Speech recognition and TTS synthesis tools Vision tools including realtime face detection and tracking Dynamic stabilization for walking and balancing 10 e Java based control libraries allow access and control of low l
5. 10 pin box header for USB x1 o 2 0 mm 4 pin header for RS 485 xl o 2 0 mm 4 pin header for TTL serial x1 o 2 54 mm 10 pin box header for SPI 8 12C xl o 2 54 mm 16 pin header for A D xl o 1 25 mm 3 pin wafer for TTL serial x 1 o 1 25 mm 4 pin wafer for LAN x 1 o 1 2 5 mm 4 pin wafer for MIC in xl o 1 25 mm 4 pin wafer for Lineout xl e Power Consumption 5V O 400mA e Power Input DC in 6V to 24V e Dimension 96 x 56 mm e Weight 40g e Resolution PWM 20ns o Serial 115200bps o I2C 1Kbps 3 3Mbps o SPI 10Mbps to 150Mbps Half Duplex o CPOL 0 1 CPHA 1 Clock mode e Included OS Debian Linux o The computer is also Compatible with other O S DOS Windows 98 ME Windows XP CE Linux distribution kernel 2 4 x 2 6 x HOWEVER Our software is only certified for use with the Debian Linux install that ships with the RoboKind product e Wi Fi 802 11g o 1 2 5mm 6 pin wafer for JTAG xl o 0 8mm 124 Pin Mini PCI Card connector o 3 96 mm 2 pin for Power x 1 o PWM great for additional servomotor control R 20 Expressive robotic face with static body e Static Body Non walking e Expressive face Einstein Geo and Zeno as described above e Static version of our R 50 body designs e Einstein Geo and Zeno have the same body designs e For Alice we provide a female proportioned body e Base is an enclosed box holding the electronics e USB connects to your computer to control the robot
6. evel sensor and motor data including Building and playing animations Direct motor control Motor sensor data including position temperature and load RoboKind Product Descriptions e Text to Speech and control of audio output e Camera and audio data Includes a C interface allowing interoperability with C projects Network control interface Java modularity C interfaces and open source code enable compatibility with numerous other platforms with modest additional development such as ROS Robotics Studio Labview Matlab SciLab and others e Latest Software Technologies Built on top of the NetBeans Rich Client Platform Uses OSGi for a modular design Open source developer program for building modules that combine into intelligent systems A sizeable community of developers has already adopted and invested in the technology resulting in a growing number of modules and tools Participate with your own and we all move ahead Miscellaneous e Manuals and Documentation Product brochures Technical Specifications User Manual Software documentation browse or download online e Packaging RoboKind comes in a cardboard and foam box Hard shell case 800 extra attractive hard shell carrying case for the robots Safe for shipping and safe for airplane carry on e Grasping Hands upgrade Two extra DOF Wrist turn Hands open and close 11 Easy sliding attachme
7. nt feature for rapid interchange e Self Maintenance and Modifications Easily modify or upgrade the robot yourself Built for scientists looking to innovate Open platform Open source hardware and software Large community to share mods with you e Easily changeable the motors and other hardware parts Dynamixel motors and commercial hobby servos are readily available Easy to change out Limited 90 day warranty covers only manufacturer s defects Extended Warranty Maintenance plans Extended warranties protecting against accidental damage and normal wear and tear are available at additional cost Available for either one year or three years Areas covered compared to limited 90 day warranty Areas Protected Limited Extended Manufacturer s defects Yes Yes Extra years protection No Yes Replacing servos that go out No Yes Coverage of normal wear and No Yes tear Software upgrades No Yes Computer or electronics No Yes failures Accidental Frubber facial or No Yes body damages limited see terms amp cond s 12
8. or light regulation for enhanced vision Simple servo change If motors go out they are readily available and easy to replace Optional extended warranty covers maintenance including motor changes Electronics e USB based servo controller Controls the ten RoboKind head DOF plus two empty servo slots allowing you to add individual DOF RS 232 serial servo control SSC protocol e Servo safety circuit e Two high def cameras 720p 30 fps USB 2 0 e Two microphones e Electrical characteristics 6 volts Continual current 1 1A Max current 3A Choice of Zeno Einstein Alice and Geo faces Face Height Weight Zeno Male cartoon 6 5 16 51cm Less than 1 5 lb character with hair 5 7kg modeled as a little hero Einstein Male portrait of the 6 6 16 76cm Less than 1 5 lb great with hair 5 7kg physicist Alice Female cartoon 6 5 16 51cm Less than 1 5 1b character with hair 5 7kg Geo Non expressive 6 3 16 cm Less than 1 5 lb abstract with hair 7kg cartoon character Expressive actions eye motions eyelids and neck head pose Available expressions All Ekman 7 transcultural emotional expressions Joy sorrow anger fear disgust surprise neutral Cognitive expressions confusion interest agreement disagreement contempt skepticism etc Many other expressions The key to the expressions is
9. ve 25 DOF in the body e Twelve 12 DOF legs all Dynamixel RX 64 servomotors in the legs and hips One 1 RX 28 servo motor in the waist e Two RX 64 Dynamixels in the shoulders e Four 4 RX 28 servos for additional arm movement Electronics Voltage e Nominal operating voltage 18v e Max voltage 22v e Min voltage 14v Current e Continuous duty 1A to 3 5A depends on activity e Intermittent duty 9 A Power supply included Batteries and charging e Two 2 Lithium rechargeable batteries one in each foot of the robot e Battery charger with circuitry for controlled charging and discharge Sensors e IMU 9 axis 3 axis gyro 3 axis accelerometer 3 axis compass e Bump sensor in each foot e Temperature torque load and position sensors in 21 DOF in the body and legs Many additional sensor upgrade options available for additional cost note these are not included in base models and some DIY implementation may be required e Ultrasonic rangefinders e IR proximity sensors PIR sensors e LIDAR e Many others Powerful RoBoard computer on board Processor 1Ghz Vortex86DX x86 CPU Memory 256MB DDR 2 Storage up to 16 gig SD ADCs Analog Devices AD 7918 10 bit I O Interface e Micro SD slot x1 o Support class 2 4 6 SDHC with any capacity e USB port x 1 USB 2 0 version e Connectors o 2 54 mm 10 pin box header for RS 232 x1 o 2 54 mm
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