all

 

PHYSICAL PARAMETERS

Size:

  • height: 1312 mm,
  • head diameter: 250 mm,
  • width (arms outstretched): 1850 mm,
  • width (from wheel to wheel): 622 mm,
  • depth: 361 mm.

Weight:

  • approx. 50 kg (110 lbs).

Material:

  • chassis: aluminum PA6 (2017A),
  • drive system and support elements: steel,
  • head covers: PA2200 (printed in SLS technology), possible custom colors,
  • torso covers: thermoformed plastic, possible custom colors.

Details in Dimensions and joints section LINK.

 

POWER SUPPLY & CONNECTORS

Power: 

  • on-board battery pack: 16Ah, 42V DC, 10 cell, lithium polymer (FLASH can work up to 6 hours on single charge, depending on arm usage), 
  • external power supply: Mean Well RSP-2000-48 (trimmed down to 42V), 42A.

Connectors:

  • power connector: CLIFF FCR2066,
  • auxlinary RS232/485/UART/CAN/USB (depending on modules installed),
  • Master PC connectors:
    • USB,
    • VGA,
    • DisplayPort,
    • ethernet connection.

Details in Power supply and charging section LINK.

 

MOTION

51 degrees of freedom:

  • 11 - head,
  • 2x7 - arms and wrists,
  • 2x12 - hands,
  • 2 - balancing platform.

Head drive system: 

  • NECK & DISCS DRIVE SYSTEM: Robotis Dynamixel MX-series, all utilizing maxon motor RE-max
    series motors with 12-bit magnetic encoders. 
  • EYE EJECTION MECHANISM: Eyes pop out 10cm. Driven by maxon motor DCX-series motors with
    10-bit magnetic encoders.
  • EYELID & EYEBROW DRIVE SYSTEM: High performance digital micro RC-servomotor.

Arm drive system:

  • ARM: 5 DoF per arm, tendon driven igus Robolink arms actuated by maxon motor DCX-series motors with 10-bit magnetic encoders, with 72Nm of torque, up to 80W/joint.
  • WRIST: 2 DoF per wrist, tendon driven custom wrists actuated by Robotis Dynamixel MX-series, all utilizing maxon motor RE-max series motors with 12-bit magnetic encoders.
  • HAND: 12 DoF per hand (3 DoF per finger), tendon driven, actuated by high performance digital micro RC-servomotors, 3D printed, SLS/SLA parts.

Balancing platform drive system: 

  • differential drive actuated by Maxon RE-series motors with 10-bit magnetic encoders, 32Nm torque, up to 150Watt per wheel,
  • heavy duty Rolko wheels,
  • double bearings.

  

CONTROL PLATFORM

MASTER PC CONTROLLER: Advantech DS-060

Specification:

  • Intel Quad Core i7 Platform,
  • 8GB Memory (DDR3 1333/1600MHz),
  • 2.5-inch SATA II SSD drive,
  • embedded graphics (Intel® HD Graphics),
  • Gigabit LAN controller (Intel 82579LM),
  • Audio Line-Out and Mic-In,
  • Wireless LAN (a/b/g/n),
  • 2x USB 2.0,
  • 2x USB 3.0,
  • 1 x full-size mSATA. 

LOW LEVEL CONTROLLERS:

  • 1x SUPERVISOR MODULE (SMK70-1B),
  • 1x COMMUNICATION/MULTIMEDIA MODULE (CM1620-1B),
  • 2x POWER SUPPLY MODULE (PM3-1B and PM4-1B),
  • 5x DUAL SERVO CONTROLLER (SC0550-1B),
  • 1x PLATFORM CONTROLLER (PC1070-1B),
  • 2x HAND CONTROLLER (HNC120-1),
  • 1x HEAD CONTROLLER (HDC425-2).

 

VISION

RGB camera: Microsoft LifeCam Studio camera (modified and integrated into EMYS head):

  • 1080p HD Sensor,
  • Frame rate: 30fps @ 720p, 15fps @ 1080p,
  • High-precision glass element lens,
  • Still Image: 5 megapixel (2560 x 2048 pixel, interpolated) photos,
  • TrueColor Technology,
  • 75° diagonal field of view,
  • Auto focus from 0.1 m to 10 m,
  • Automatic image adjustment with manual override,
  • Controlled exposure providing bright and colorful video,
  • Color depth: 16-bit,
  • Omni-directional super wideband microphone,
  • High-Speed USB 2.0.

RGB-D sensor: Microsoft Kinect sensor.

 

AUDIO

Microphone: omni-directional wideband microphone mounted in the robot’s nose area.

Speaker: Infinity ref-3012cf 25W speaker mounted onto the robot's torso.

Microphone array: four microphones integrated with a Microsoft Kinect sensor.

 

OTHER SENSORS

Laser rangefinder: For navigation and object detection purposes, URG-04LX rangefinder is utilized
(features: 60-4000mm range, 240° scan angle (limited to around 140° by the robot’s covers), and
0.36° angular resolution).

Touch sensors: Five touch sensing points (electrodes) on the head based on capacitive scan method
(features: noise detection and touch detection algorithm for reduced false touches when faced
with electrical noise).

Inertial Measurement Unit (IMU): Xsens MTi 30 AHRS (features: 18°/h gyro bias stability, roll/pitch 0.2°-0.5°, yaw 1.0°, 2 kHz output frequency).

 

CONTROL

URBI based: Urbi platform is used as the main tool for handling the various software modules.

Provides necessary hardware abstraction, and integrates low-level motion controllers, sensor systems, and algorithms implemented as external software. Delivers functions of the robot and the implementation of his competencies. URBI allows to dynamic loading of modules and provides full control over their operation. Urbi also delivers urbiscript – a script programming language for use in robotics, oriented towards parallel and event-based programming. It serves as a tool for management and synchronization of various components of the control system. Urbiscript syntax is based on well-known programming languages and urbiscript itself is integrated with C++.

ROS: All of FLASH’s subsystems can be controlled via ROS. Communication with arm, hand and head motors is realized using protocol from the Robotis’ Dynamixel servomotors, which have their own dedicated ROS node. Head touch sensors utilise the same protocol as motors. Communication with mobile platform utilizes ARIA protocol, which has its own node ROSARIA. Kinect and RGB camera can also be accessed via ROS.

Custom software: Any custom software implementing Dynamixel and ARIA protocol over serial port and handling RGB and RGB-D images.

 

 

EMYS and FLASH are Open Source and distributed according to the GPL v2.0 © Rev. 0.8.0, 27.04.2016

FLASH Documentation