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References

Brochure

Download PDF Outside pages (1, 4) Download PDF Inside pages (2, 3)

Specifications

Link Overall Specifications Download PDF Diagrams

Hardware Specifications

Core Component Specifications

Feature Specifications
CPU Intel Atom Processor: Z530 - 1.6Ghz @533MHz FSB L2-512KB(dynamic sizing),
L1-32KB IC, 24KB DC. Intel Deep Power Down(C6) technology support
Chipset Poulsbo US15 Intel System Controller Hub (INTEL SCH)
Memory 1GB DDR2, 533MHz, 64-bit
Solid State Disk 3.6GB NAND flash disk
Display Interface SDVO based DVI interface(up to 1920x1080). Hotplug support.
Audio Realtek ALC260, High Definition Audio, Line Out, shared line-in / mic-in
Ethernet based on Gigabit PCI-Express controller Realtek RTL8111
WiFi 802.11 b/g/n capabilities, using RaLink RT3070 USB module. Up to 150Mbps, 2.4GHz band.
USB 2 external USB ports
BIOS Phoenix SecureCore BIOS
SDIO slot mini SD connector supporting SDIO1.1 and MMC4.1
Active consumption 5-7W depending on CPU load
Dimensions 104 x 96 x 23 mm
MTBF > 100,000 hours
Operation temperature 0°C to 70°C
Storage temperature -40°C to 85°C
Relative humidity 10% to 90% (operation)
5% to 95% (storage)

You may download CompuLab’s reference guide with detailed specifications here. You can also get information on the speaker, microphones, and camera.

Sub Controller

You can also get information about the gyroscope and accelerometer.

How to convert TTL to RS485

Simply apply the 2 changes below to change the comm. method.

For more information on the connector, please refer to the link below. http://support.robotis.com/en/techsupport_eng.htm#product/dynamixel/dxl_connector.htm

Features
Feature Specifications
CPU STMicroelectronics 32F103RE ARM Cortex 32-bit CPU (clocked @ 72MHz)
(512KB Flash, 64KB SRAM )
Interface 5 x LED , 2 x RGB LED, 3 x Button, 1 x Buzzer
External ports 13 x ADC /I/O Ports
Sensor 3-axis gyroscope , 3-axis accelerometer, supply voltage sensor
Communication USB Port, Serial Port , 5x TTL Ports (for Dynamixel)
Audio & Mic Amp Audio amp gain : 20, mic amp gain : 2027
ETC Dynamixel Power Control Unit, Head board port, Interface board port.
External supply voltage 8V ~ 16.8v
Current consumption Maximum 150mA , Standby 50mA
Dimensions 80.0mm x 75.0mm x 20.0mm
Operation temperature -65°C to +80°C
Weight 51g
Control Table

Control Table consists of data regarding the current status and operation of CM-730. The user can control CM-730 by changing data of Control Table via Instruction packet.

EEPROM and RAM

Data in RAM area is reset to initial values whenever the power is turned on while data in EEPROM area is kept once values are set even if the power is turned off.

Address

Represents the location of data. To read from or write data to the control table the user should assign the correct address in the Instruction packet.

Access

CM-730 has two kinds of data: Read-only data, used mainly for sensing, and read-and-write data used for driving.

Initial Value

In case of data in the EEPROM Area, the initial values on the right side of the below Control Table are the factory default settings.
In case of data in the RAM Area, the initial values on the right side of the following control table are the ones when the power is turned on.

Highest/Lowest Byte

In the Control table, some data share the same name, but they are attached with (L) or (H) at the end of each name to distinguish the address. This data requires 16-bit, but it is divided into 8bit each for the addresses (low) and (high). These two addresses should be written with one Instruction Packet simutaneously.

EEPROM Area
Address Name Description Access Init Value
0 (0X00) Model Number(L) model number low byte R 0(0X00)
1 (0X01) Model Number(H) model number high byte R 115 (0X73)
2 (0X02) Version of Firmware firmware version R -
3 (0X03) ID Dynamixel ID RW 200 (0XC8)
4 (0X04) Baud Rate Dynamixel baud rate RW 1 (0X01)
5 (0X05) Return Delay Time Return Delay Time RW 0 (0X0)
16 (0X10) Status Return Level Status Return Level RW 2 (0X02)
RAM Area
Address Name Description Access Init Value
24 (0X18) Dynamixel Power Dynamixel On/Off RW 0 (0X00)
25 (0X19) LED Pannel LED Pannel On/Off RW 0 (0X00)
26 (0X1A) LED 5 (L) LED 5 low byte RW 0 (0X00)
27 (0X1B) LED 5 (H) LED 5 high byte RW 0 (0X01)
28 (0X1C) LED 6 (L) LED 6 low byte RW 0 (0X00)
29 (0X1D) LED 6 (H) LED 6 high byte RW 0 (0X01)
30 (0X1E) Button Button status R -
38 (0X26) Gyro_Z(L) Gyroscope Z-axis low byte R -
39 (0X27) Gyro_Z(H) Gyroscope Z-axis high byte R -
40 (0X28) Gyro_Y(L) Gyroscope Y-axis low byte R -
41 (0X29) Gyro_Y(H) Gyroscope Y-axis high byte R -
42 (0X2A) Gyro_X(L) Gyroscope X-axis low byte R -
43 (0X2B) Gyro_X(H) Gyroscope X-axis high byte R -
44 (0X2C) ACC_X(L) Accelerometer X-axis low byte R -
45 (0X2D) ACC_X(H) Accelerometer X-axis high byte R -
46 (0X2E) ACC_Y(L) Accelerometer Y-axis low byte R -
47 (0X2F) ACC_Y(H) Accelerometer Y-axis high byte R -
48 (0X30) ACC_Z(L) Accelerometer Z-axis low byte R -
49 (0x31) ACC_Z(H) Accelerometer Z-axis high byte R -
50 (0X32) Present Voltage Current Voltage R -
51 (0X33) MIC 1 (L) Mic 1 low byte R -
52(0x34) MIC 1 (H) Mic 1 high byte R -
53(0x35) ADC 2(L) ADC channel 2 low byte R -
54(0x36) ADC 2(H) ADC channel 2 high byte R -
55(0x37) ADC 3(L) ADC channel 3 low byte R -
56(0x38) ADC 3(H) ADC channel 3 high vyte R -
57(0x39) ADC 4(L) ADC channel 4 low byte R -
58(0x3A) ADC 4(H) ADC channel 4 high byte R -
59(0x3B) ADC 5(L) ADC channel 5 low byte R -
60(0x3C) ADC 5(H) ADC channel 5 high byte R -
61(0x3D) ADC 6(L) ADC channel 6 low byte R -
62(0x3E) ADC 6(H) ADC channel 6 high byte R -
63(0x3F) ADC 7(L) ADC channel 7 low byte R -
64(0x40) ADC 7(H) ADC channel 7 high byte R -
65(0x41) ADC 8(L) ADC channel 8 low byte R -
66(0x42) ADC 8(H) ADC channel 8 high byte R -
67(0x43) MIC 2 (L) Mic 2 low byte R -
68(0x44) MIC 2 (H) Mic 2 high byte R -
69(0x45) ADC 10(L) ADC channel 10 low byte R -
70(0x46) ADC 10(H) ADC channel 10 high byte R -
71(0x47) ADC 11(L) ADC channel 11 low byte R -
72(0x48) ADC 11(H) ADC channel 11 high byte R -
73(0x49) ADC 12(L) ADC channel 12 low byte R -
74(0x4A) ADC 12(H) ADC channel 12 high byte R -
75(0x4B) ADC 13(L) ADC channel 13 low byte R -
76(0x4C) ADC 13(H) ADC channel 13 high byte R -
77(0x4D) ADC 14(L) ADC channel 14 low byte R -
78(0x4E) ADC 14(H) ADC channel 14 high byte R -
79(0x4F) ADC 15(L) ADC channel 15 low byte R -
80(0x50) ADC 15(H) ADC channel 15 high byte R -
Address Function Help
Model Number

Represents the Model Number.

Firmware Version

Represents the firmware version.

ID

Is a unique number to identify Dynamixel.
Values range from 0 (0x00) to 253 (0xFD), Value 254 (0xFE) is used as the Broadcast ID.
If the Broadcast ID is used to transmit Instruction Packet, then it can command to all Dynamixels.

Note Please be careful not to duplicate the ID of connected Dynamixels.

Baud Rate

Represents the communication speed. 0 (0x00) to 254 (0xFE) can be used for it. This speed is calculated by using the below formula.
Speed(BPS) = 2000000/(Data+1)

Data Set BPS Target BPS Tolerance
1 1000000.0 1000000.0 0.000 %
3 500000.0 500000.0 0.000 %
4 400000.0 400000.0 0.000 %
7 250000.0 250000.0 0.000 %
9 200000.0 200000.0 0.000 %
16 117647.1 115200.0 -2.124 %
34 57142.9 57600.0 0.794 %
103 19230.8 19200.0 -0.160 %
207 9615.4 9600.0 -0.160 %

Note Maximum Baud Rate error of 3% is within the tolerance of UART communication.

Return Delay Time

Is the delay time per data value that takes from the transmission of Instruction packet until the return of Status packet.
0 (0x00) to 254 (0xFE) can be used. The delay time per data value is 2 microseconds (usec).
If the data value is delayed by 10, 20 usec the initial value is 250 (0xFA) (i.e., 0.5 msec).

Status Return Level

Decides how to return Status packet. There are three possibilities:

Value Return of Status Packet
0 No return against all commands (Except PING Command)
1 Return only for the READ command
2 Return for all commands

Note When Instruction packet is Broadcast ID, Status packet is not returned regardless of Status return level.

Dynamixel Power
Value Meaning
0 Turn off the power of all Dynamixels connected to CM-730.
1 Turn on the power of all Dynamixels connected to CM-730.
LED Pannel
BIT 7 ~ 3 2 1 0
Value X LED4 LED3 LED2

If each bit is SET, applicable LED lights up.
If each bit is RESET, applicable LED goes off.
EX) When the LED Panel = 3 (00000101), the LED4 and LED2 light up.

LED5 / LED6
BIT 15 14 ~ 10 9 ~ 5 4 ~ 0
Value X the value of blue light the value of green light the value of red light

LED HEAD/ LED EYE is 3 color LED. It can represent the value of 32 steps by colors.
It can be represent by controling the value of light by colors.

BUTTON STATUS
BIT 7 ~ 2 1 0
Value X the state value of START button the state value of MODE button

It is the value which represents the state of buttons.
If the bit is SET, it represents that the button is pressed.
If the bit is RESET, it represents that the button isn’t pressed.

GYRO / ACC

The following picture is the direction of axis at CM-730.
The Gyroscope and Accelerometer is 10mm distant respectively from the central axis of Dawin.

The positions of central axis and sensor at Dawin

Gyroscope

Accelerometer

The Gyroscope axis in the DARWIN-OP The Accelerometer axis in DARWIN-OP
GYRO_X, GYRO_Y, GYRO_Z

They represent the angular velocity values of X-axis, Y-axis, Z-axis respectively.

The observable maximum velocity is -500DPS ~ 500DPS.
The following graph shows the process that angular velocity represents to value in reality.

ACC_X, ACC_Y, ACC_Z

They represent the acceleration values of X-axis, Y-axis, Z-axis respectively.

The observable maximum velocity is -4g ~ +4g.
The following graph shows the process that acceleration represents to value in reality.

PRESENT VOLTAGE

Present (input) voltage.
This value is 10 times larger than the actual voltage. For example, when 10V is supplied, the data value is 100 (0x64)

MIC 1 , MIC 2

They are the wave values of MIC on the ears at HEAD PCB.
It is the value of ADC, and its range is 0~1023.

ADC 2 ~ ADC15

They are ADC values of ADC channel connected external port(J8).
CM-730 has ADC of 10BIT RESOLUTION.
Its range is 0~1023

FSR(Force Sensing Resister)

Feature Specifications
Voltage 9V~12V
Running Temperature -5°C ~ +80°C
Command Signal Digital Packet
Protocol Type Half duplex Asynchronous Serial Communication (8bit,1stop,No Parity)
Link (Physical) TTL Level Multi Drop (daisy chain type Connector)
ID 254 ID (0~253)
Communication Speed 7,843bps ~ 3 Mbps
Feedback Position, Temperature, Load, Input Voltage, etc.
Standby current 50 mA
Control Table

Control Table consists of data regarding the current status and operation of Dynamixel. The user can control Dynamixel by changing data of Control Table via Instruction packet.

EEPROM and RAM

Data in RAM area is reset to initial values whenever the power is turned on while data in EEPROM area is kept once values are set even if the power is turned off.

Address

Represents the location of data. To read from or write data to the control table the user should assign the correct address in the Instruction packet.

Access

Dynamixel has two kinds of data: Read-only data, used mainly for sensing, and read-and-write data used for driving.

Initial Value

In case of data in the EEPROM Area, the initial values on the right side of the below Control Table are the factory default settings.
In case of data in the RAM Area, the initial values on the right side of the following control table are the ones when the power is turned on.

Highest/Lowest Byte

In the Control table, some data share the same name, but they are attached with (L) or (H) at the end of each name to distinguish the address. This data requires 16-bit, but it is divided into 8bit each for the addresses (low) and (high). These two addresses should be written with one Instruction Packet simutaneously.

EEPROM Area
Address Name Description Access Init Value
0 (0X00) Model Number(L) Lowest byte of model number R 84 (0X54)
1 (0X01) Model Number(H) Highest byte of model number R 1 (0X01)
2 (0X02) Version of Firmware Information on the version of firmware R -
3 (0X03) ID ID of Dynamixel RW 100 (0X64)
4 (0X04) Baud Rate Baud Rate of Dynamixel RW 34 (0X22)
5 (0X05) Return Delay Time Return Delay Time RW 250 (0XFA)
16 (0X10) Status Return Level Status Return Level RW 2 (0X02)
RAM Area
Address Name Description Access Init Value
25 (0X19) LED LED On/Off RW 0 (0X00)
26 (0X1A) FSR1_L Lowest byte of FSR 1 sensor data R -
27 (0X1B) FSR1_H Highest byte of FSR 1 sensor data R -
28 (0X1C) FSR2_L Lowest byte of FSR 2 sensor data R -
29 (0X1D) FSR2_H Highest byte of FSR 2 sensor data R -
30 (0X1E) FSR3_L Lowest byte of FSR 3 sensor data R -
31 (0X1F) FSR3_H Highest byte of FSR 3 sensor data R -
32 (0X20) FSR4_L Lowest byte of FSR 4 sensor data R -
33 (0X21) FSR4_H Highest byte of FSR 4 sensor data R -
34 (0X22) FSR_Central_X Center point of the X-axis force R -
35 (0X23) FSR_Central_Y Center point of the Y-axis force R -
42 (0X2A) Present Voltage Current Voltage R -
44 (0X2C) Registered Means if Instruction is registered R 0 (0X00)
47 (0X2F) Lock Locking EEPROM RW 0 (0X00)
Address Function Help
Model Number

Represents the Model Number.

Firmware Version

Represents the firmware version.

ID

Is a unique number to identify Dynamixel.
Values range from 0 (0x00) to 253 (0xFD), Value 254 (0xFE) is used as the Broadcast ID.
If the Broadcast ID is used to transmit Instruction Packet, then it can command to all Dynamixels.

when it’s searched as Unknown Device, change the baudrate to 1(1000000).
Connect with DARWIN-OP after setting the ID as 111 for the right foot and 112 for the left.

Note Please be careful not to duplicate the ID of connected Dynamixels.

Baud Rate

Represents the communication speed. 0 (0x00) to 254 (0xFE) can be used for it. This speed is calculated by using the below formula.
Speed(BPS) = 2000000/(Data+1)

Data Set BPS Target BPS Tolerance
1 1000000.0 1000000.0 0.000 %
3 500000.0 500000.0 0.000 %
4 400000.0 400000.0 0.000 %
7 250000.0 250000.0 0.000 %
9 200000.0 200000.0 0.000 %
16 117647.1 115200.0 -2.124 %
34 57142.9 57600.0 0.794 %
103 19230.8 19200.0 -0.160 %
207 9615.4 9600.0 -0.160 %

Note Maximum Baud Rate error of 3% is within the tolerance of UART communication.

Return Delay Time

Is the delay time per data value that takes from the transmission of Instruction packet until the return of Status packet.
0 (0x00) to 254 (0xFE) can be used. The delay time per data value is 2 microseconds (usec).
If the data value is delayed by 10, 20 usec the initial value is 250 (0xFA) (i.e., 0.5 msec).

Status Return Level

Decides how to return Status packet. There are three possibilities:

Value Return of Status Packet
0 No return against all commands (Except PING Command)
1 Return only for the READ command
2 Return for all commands

Note When Instruction packet is Broadcast ID, Status packet is not returned regardless of Status return level.

LED
Value Meaning
0 Turns LED off
1 Turns LED on
Diagram 1
FSR1,FSR2,FSR3,FSR4

FSR sensor data. Diagram 1 shows the location of each sensor.
Value range is 0 ~ 65535. Each value has 1/1000 N units.
For example, FSR1 has a load of 9.8N(1kgf); the value of FSR1 is 9800.
The smallest measurement load is 0.493N.
The measurement range is 0.493 N ~ 65.535N.

FSR_Central_X, FSR_Central_Y

DARWIN-OP’s load is at the center of the foot.
Value range is 0 ~ 254.
When no load is present values will read 255.
Diagram 1 shows of the center point of each foot.

Present Voltage

Current input voltage. This value is 10 times larger than the actual voltage. For example, when 10V is supplied the data value is 100 (0x64).

Registered Instruction
Value Meaning
0 There are no commands transmitted by REG_WRITE
1 There are commands transmitted by REG_WRITE

Note If ACTION command is executed, the value is changed into 0.

Lock
Value Meaning
0 EEPROM area can be modified
1 EEPROM area cannot be modified

Caution If Lock is set to 1, the power must be turned off and then turned on again to change into 0.

Mechanical Specifications

Actuator ID Map

Download PDF ID Map

Camera (Logitech C905)

Dimensions

DARWIN-OP dimensions illustrated in both SI and Imperial units.

Weight: 2.9kg (6.39lb)
Total height: 454.5mm (17.90in)

Dynamics

Information regarding DARWIN-OP’s dynamics can be found here : DARWIN-OP_Dynamics.zip

Kinematics

Download ZIP DARWIN-OP Kinematics

Software Specifications

Main Controller

Recovery Software

Every DARWIN-OP robot comes equipped with a USB thumb drive loaded with factory-default setting recovery software.
Please visit the link periodically for updates

Download Recovery Software

Source Code

You can update the source code for DARWINOP via Subversion.
The source code also contains the color cards.

Download Source Code

Sub Controller(CM-730)

Download CM-730 Information

Software Update Info

Framework Release Note

Framework source code download : SourceForge DARWIN-OP framework

Ver 1.6.0 - 2013.04.11

Ver 1.5.0 - 2012.03.19

Ver 1.4.0 - 2012.01.16

Ver 1.3.0 - 2011.09.20

Ver 1.2.0 - 2011.06.01

Ver 1.1.0 - 2011.04.08

Ver 1.0.1 - 2011.03.28

Ver 1.0.0 - 2011.02.01

CM-730 Firmware Release Note

CM-730 Firmware source code download : SourceForge CM730 Firmware

Ver 19 (0x13) - 2011.08.26

Ver 18 (0x12) - 2011.04.26

Ver 17 (0x11) - 2011.04.08

Ver 16 (0x10) - 2011.02.28

MX-28 Firmware Release Note

Dynamixel firmware is NOT an open source software.

Ver 30 (0x1E) - 2012.01.05

Ver 29 (0x1D) - 2011.05.18

Ver 28 (0x1C) - 2011.05.02

Ver 27 (0x1B) - 2011.04.11

Ver 26 (0x1A) - 2011.02.28

FSR Firmware Release Note

FSR firmware is NOT an open source software.

Ver 17 (0x11) - 2012.03.08

Download DARWIN-OP Logo Images

Sites

Text Editor Tutorials

Videos

DARWIN-OP Webots simulator

Cyberbotics Webots

IEEE-RAS Humanoids Conference 2010 (Individual Presentations and Workshop)

Presentation by Dr. Dennis Hong.

Presentation by ROBOTIS’ CEO.

Presentation by JK Han.

Presentation by ROBOTIS’ VP.

Presentation by Dr. Daniel Lee.

UPenn workshop.

IEEE-RAS Humanoids Conference 2010 (Third Party clips)

Dr. Dennis Hong Interview while DARWIN-OP performs Interactive Mode at the conference.

InnoRobo 2011 Lyon, France

Recorded by a visitor

RoboCup 2011 (Istanbul, Turkey)

Team DARwin defeats the defending world champion (semifinal).

Team DARwin becomes world champion (final).

http://www.popsci.com/technology/article/2011-07/video-darwin-op-wants-tecate-not-bud-light

Other Third Party Clips

From Virginia Tech’s RoMeLa

Chasing and Kicking the ball

From a fan

DARWIN-OP in Japan

An independent opinion

Back on it feet

DAREIN-OP’s software

DARWIN-OP with gripper demo