DARwIn-OP

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Simulation of a Robotis DARwIn-OP in Webots

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[1] 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[2] 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.

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,[3] inverse kinematics, linguistics, etc...[4] It is also supported by $1.2 million NSF grant [5][6] and has been distributed to over 14 institutions already.[5][6]

DARWIN-OP is also the winner of the Kid Size League in the RoboCup 2011[7][8][9][10] 2012 League,[11] and 2013 League.

Specifications

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

Country Application University Video
USA DDR Motions Purdue University [12]
USA Forklift UNLV
Canada Skiing University of Manitoba [13]
USA Driving Drexel University [14]
USA Carrying water UNLV
USA Play Golf Purdue University [15]
Canada Ice Hockey University of Manitoba [16]

Competitions

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

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.

Winners
Year Winning Team Project Description Competition Location
2012 University of Manitoba Ice skating/Ice hockey[20] Minneapolis-St Paul
2013 Georgia Tech Case-based reasoning, learning from demonstration[21] Karlsruhe, Germany
2014 Cancelled Cancelled Hong Kong
2015 University of Manitoba Alpine and cross-country skiing[22] Seattle, WA - USA
2016 Coming Soon Coming Soon Stockholm, Sweden

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.

Kid-Size League Winners[23][24][25]
Year Rank Team Name Country University
2011 1st Place Team DARwIn USA Virginia Tech and UPenn
2012 1st Place Team DARwIn USA Virginia Tech and UPenn
2013 1st Place Team DARwIn USA Virginia Tech and UPenn

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.[26]

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 :

See also

References

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External links

  1. ↑ ::: ROBOTIS :::
  2. ↑ AX-12A, AX-18A, RX-24F, RX-28, RX-64, EX-106+, MX-28
  3. ↑ Lua error in package.lua at line 80: module 'strict' not found.
  4. ↑ Lua error in package.lua at line 80: module 'strict' not found.
  5. ↑ 5.0 5.1 Lua error in package.lua at line 80: module 'strict' not found.
  6. ↑ 6.0 6.1 Lua error in package.lua at line 80: module 'strict' not found.
  7. ↑ Lua error in package.lua at line 80: module 'strict' not found.
  8. ↑ Lua error in package.lua at line 80: module 'strict' not found.
  9. ↑ http://www.cs.columbia.edu/~allen/F11/NOTES/RoboCup.pdf
  10. ↑ Lua error in package.lua at line 80: module 'strict' not found.
  11. ↑ RoMeLa RoboCup 2012: Team DARwIn repeats win at RoboCup in Kid-Size division
  12. ↑ https://www.youtube.com/watch?v=M4DvlAb4eA4
  13. ↑ https://www.youtube.com/watch?v=3jesBT-xp1A
  14. ↑ https://www.youtube.com/watch?v=L-jm3Pn9GVg&feature=youtu.be
  15. ↑ https://www.youtube.com/watch?v=Svq302_Vyjk&feature=youtu.be
  16. ↑ https://www.youtube.com/watch?v=D4xaaJNBhlk
  17. ↑ Lua error in package.lua at line 80: module 'strict' not found.
  18. ↑ Lua error in package.lua at line 80: module 'strict' not found.
  19. ↑ Lua error in package.lua at line 80: module 'strict' not found.
  20. ↑ Lua error in package.lua at line 80: module 'strict' not found.
  21. ↑ http://robotics.gatech.edu/hg/item/215691
  22. ↑ http://aalab.cs.umanitoba.ca/
  23. ↑ http://www.seas.upenn.edu/media/feature-darwin.php
  24. ↑ http://www.vtnews.vt.edu/articles/2012/06/062812-engineering-robocup.html
  25. ↑ https://books.google.co.kr/books?id=aJgrBAAAQBAJ&pg=PA49&lpg=PA49&dq=team+darwin+robocup+2013&source=bl&ots=lEYkpoWFv2&sig=fmlbwu6rbRxaV3mvH3v-ItCCc78&hl=ko&sa=X&ei=XNZeVY-VIYOB8gWBlYHQDA&ved=0CFYQ6AEwBw#v=onepage&q=team%20darwin%20robocup%202013&f=false
  26. ↑ Lua error in package.lua at line 80: module 'strict' not found.
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