Specifications¶

Rev D.1 (March 2021)

Dimensions¶

Actuators¶
Parameter	Value	Comments
Total DoF	22
Legs DoF (each)	6	ankle pitch and roll, knee yaw and pitch, hip pitch and roll
Legs Actuators	6 x 2XL430	each leg contains 3 2XL430-W250
Arms Dof (each)	4	shoulder pitch and roll, elbow yaw and pitch
Arms Actuators	8 x XL430	each arm contains 4 XL430-W250
Head DoF	2	pitch and yaw
Head Actuators	1 x 2XL430	one 2XL430-W250

Power¶
Parameter	Value	Comments
Batteries	2 x 2500mAh	3S LiPo batteries, Batteries are located in the feet and are hot-swap; there is no need to turn off the main controller to change the batteries
External power	2.5mm power jack 12V	Optionally the robot can be powered with a 12V power adapter using a standard 2.5mm barrel jack
Autonomy	3 hours	(preliminary estimates)
Monitoring	voltage ADC	Dynamixel voltage, 5V railing, 3.3V railing

Electronics¶
Parameter	Value	Comments
Main controller	Raspberry Pi	Model 4 4GB RAM
Add on board	Robotics HAT	The board includes: 1. dual high speed dual Dynamixel bus 2. IMU (Gyroscope and Accelerometer) 3. 5V 3A power switch for RPi 4. ADC for monitoring power 5. stereo codec with mics and 2 x 1W output 6. PWM fan control 7. USB to UART converter for console access
Hot-swap circuits	2	Each foot includes a circuit that implements: 1. an ideal diode and allows hot-swap 2. low-voltage alarm 3. emergency shutdown for ultra-low voltage
Display	Adafruit 2.0” IPS display	A 2.0’’ 320x 240 IPS TFT display connected on SPI with console support
Camera	2	Model HBV-1716HD Max resolution 1920 x 1080 USB connected directly to Raspberry Pi field of view 60 degrees
WiFi	2	Built-in 5Ghz frequency WiFi Second USB dongle Low-latency (5GHz band) Access Point (AP) The second WiFi can connect to an exiting infrastructure DHCP and ip routing
Bluetooth	Builtin	Bluetooth 5.0 BLE Bluetooth keyboard for remote control and interface navigation

Software¶
Parameter	Value	Comments
OS	Raspbian (Debian Buster)	Using Linux kernel 5.10 Kernel drivers added for: - SC16IS762 (SPI to UART) - ST7789V (TFT display) - WM8960 (sound) - ADS1015 (for voltage monitoring ADC) - fan_control
Software	ROS Noetic	ROS Noetic is installed from source
Custom ROS packages		The following packages are included: - hardware interface - controllers - UI for robot TFT - URDF with support for RViz and Gazebo - “director” package for scripted moves - vision (in progress)

There are a number of exciting upgrades to the platform that we expect to deliver soon:

Planed improvements¶
Area	Improvement
Vision	Updated cameras with 100 degrees FoV and more fps options
Foot Sensor	Soles with 4 force sensing resistors (FSR) Information is exchanged over the Dynamixel bus.
Display	increase size of display to 2.8 inch to improve readability