Edit on GitHub

References

Router Setting

1. Router Reset
   To reset the router, press the front button for 10 seconds.
   Front button is “MODE CHANGE” button.
   • Orange LED : Router Mode
   • Green LED : Repeater Mode
   • Red LED : AP Mode

   

2. Connect to Router

   • Default Wi-Fi Name:

     • 2.4G : dlink-806a-z
     • 5G : dlink-806a 5G-z

   • Administrator Account Setting:

     • Name : admin
     • Password : admin
3. Change Language
   • Connect to Router via Wi-Fi or Wired.
   • Open the browser and connect to ‘192.168.1.1’. Insert Administrator Account Info.
   • Click “상세 설정”(Details).
   • Click Menu “도구”(Tools) > “관리자 설정”(Administrator).
   • Select Language “영어(English)” and click “APPLY” button.
   • Select “예” and click “APPLY” button. The language has been changed.

   

4. Disable the IPTV Availability.
   In order to use Port 4, IPTV Availability should be disabled.To use Port 4 must disable IPTV Availability.
   • “Advanced” > “IPTV/IGMP”
   • “IPTV Availability” > Select “Disable” > Click “APPLY” button
   • Reboot the router.

   

LIDAR IP Setting

• Model : UTM-30LX-EW

• Download IP address changing tool
  https://www.hokuyo-aut.jp/02sensor/07scanner/download/products/utm-30lx-ew/

• Reset the IP Setting
  Pressing the button in the sensor’s body will reset the IP setting.

  1. Remove the rubber cap that covers the IP reset button.

     

  2. Press the switch inside the hole for more than 3 seconds, using a thin stick.

     

Restart the sensor when the LED blinks, the IP setting will be completed.
The following table shows the network settings after the reset.

Item	Description
IP	192.168.0.10
Subnet	255.255.255.0
Gateway address	192.168.0.1
TCP/IP Port	10940

• Change the IP Setting

  1. Below is the screen shot of IP changer’s screen shot.

     

  2. Change the IP address and push “Update” button. (The “Update” button can be pushed only when the sensor is connected.)

     

System Block Diagram

Technical Specifications

1. PC
   • nuc5i5RYK
   • Technical Product Specification

   

2. Actuators
   • H54-200-S500-R x10
   • H54-100-S500-R x11
   • H42-20-S300-R x8

   

3. Sensors
   • 6-axis force-torque sensor(ATi Mini58-SI-2800-120)

   

   • IMU sensor(MicroSrain 3DM-GX4-25)

     

   • LIDAR(Hokuyo UTM-30LX-EW)

      

   • HD Camera(Logitech C920 HD)

     

   • Depth camera(Intel RealSense R200)  

4. Batteries
   • LiPo 22.2V, 22000mAh x 1EA(http://www.maxamps.com/proddetail.php?prod=Lipo-22000-222-Pack)
     xt60 plug

   

   • LiPo 18.5V, 11000mAh x 1EA(http://www.maxamps.com/proddetail.php?prod=Lipo-11000-185-Pack)
     no plug-12awg

     

• Chargers(hitec smart charger h4, hitec e power box 30a)
  http://hitecrcd.com/products/chargers/dcdc-chargers/h4-dcdc-four-port-multi-charger/product

  http://hitecrcd.com/products/chargers/epowerbox-30-amp-power-supply/product

  

ID Map

Physical Properties

Link Measurements

body	x	y	z
Ground-origin	-	-	807.5
origin-27	0	0	170.5

head	x	y	z
27-28	0	0	229
28-29	0	-45	39
29-cam	68.2	45	56
29-lidar	0	45	106.75
29-decam	68.9	45	17

L_Arm	x	y	z	R_Arm	x	y	z
27-2	0	152	160	27-1	0	-152	160
2-4	57	60	-39	1-3	57	-60	-39
4-6	-57	33	-0	3-5	-57	-33	0
6-8	30	187	57	5-7	30	-187	57
8-10	171	30	-57	7-9	171	-30	-57
10-12	39	0	45	9-11	39	0	45
12-14	45	-45	-45	11-13	45	45	-45
14-30	87.7	-58.3	0	13-31	87.7	-31.7	0
30-30_2	0	-26.6	0	31-31_2	0	-26.6	0

L_Leg	x	y	z	R_Leg	x	y	z
base-16	0	93	-18	base-15	0	-93	-18
16-18	57	0	-75	15-17	57	0	-75
18-20	-57	33	0	17-19	-57	33	0
20-22	0	60	-300	19-21	0	-60	-300
22-24	0	-60	-300	21-23	0	60	-300
24-26	57	-33	0	23-25	57	33	0
26-26_2	-57	0	-87	25-25_2	-57	0	-87

Mass & Inertia

Whole robot

• Mass = 41.6 kg

Body

Head

Right Arm

Left Arm

Right Leg

Left Leg

Joint & Angle Limit

Head Joint

Id	Name	Range(degrees)
28	head_y(Z)	-90 to 90
29	head_p(Y)	-60 to 87

Body Joint

Id	Name	Range(degrees)
27	torso_y(Z)	-90 to 90
15	r_leg_hip_y(Z)	-90 to 40
16	l_leg_hip_y(Z)	-40 to 90

Right_Arm Joint

Id	Name	Range(degrees)
1	r_arm_sh_p1(Y)	-150 to 150
3	r_arm_sh_r(X)	-90 to 90
5	r_arm_sh_p2(Y)	-120 to 30
7	r_arm_el_y(Z)	-90 to 45
9	r_arm_sh_wr_r(X)	-150 to 150
11	r_arm_sh_wr_y(Z)	-90 to 90
13	r_arm_sh_wr_p(Y)	-90 to 90

Left_Arm Joint

Id	Name	Range(degrees)
2	l_arm_sh_p1(Y)	-150 to 150
4	l_arm_sh_r(X)	-90 to 90
6	l_arm_sh_p2(Y)	-30 to 120
8	l_arm_el_y(Z)	-45 to 90
10	l_arm_sh_wr_r(X)	-150 to 150
12	l_arm_sh_wr_y(Z)	-90 to 90
14	l_arm_sh_wr_p(Y)	-90 to 90

Right_Leg Joint

Id	Name	Range(degrees)
17	r_leg_hip_r(X)	-30 to 45
19	r_leg_hip_p(Y)	-40 to 85
21	r_leg_kn_p(Y)	-166 to 30
23	r_leg_an_p(Y)	-85 to 40
25	r_leg_an_r(X)	-35 to 90

Left_Leg Joint

Id	Name	Range(degrees)
18	l_leg_hip_r(X)	-45 to 30
20	l_leg_hip_p(Y)	-85 to 40
22	l_leg_kn_p(Y)	-30 to 166
24	l_leg_an_p(Y)	-40 to 85
26	l_leg_an_r(X)	-90 to 35

Previous Page