EMYS controller gives the user unified access to all of the robot's components. It allows communication with all of the robot's drives and touch sensors using Dynamixel protocol. The controller boasts an USB hub which provides access to both the head drives and the on-board RGB camera and microphone via a single USB connector. It takes care of generating all the different voltage levels necessary for proper operation of various head components eliminating the need for multiple external power sources. The controller consists of two boards stacked on top of each other, as shown in Fig. 1.
Fig. 1 Complete onboard controller.
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Master PC controller comes in several possible options:
First option is based on Advantech DS-060 multimedia computer, second utilizes Mac Mini and the last one is Gigabyte BRIX Pro. All options share the technical specification detailed below.