DARwIn-OP
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.
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.
| 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.
| 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 :
- RoMeLa UCLA Website
- GRASP University of Pennsylvania Website
- ARTLAB Purdue University Website
- Bold Hearts University of Hertfordshire Website
- Hamburg Bit-Bots Hamburg University Website
- NUBots University of Newcastle (Australia) Website
- UKM Soccer Robotic Laboratory Universiti Kebangsaan Malaysia Website
- University of Manitoba Autonomous Agents Laboratory Website
- Commissariat à l'énergie atomique et aux énergies alternatives- Marcoule - Website
- École normale supérieure de Rennes Website
- Virginia Tech
- DASL University of Nevada, Las Vegas
See also
References
- ↑ ::: ROBOTIS :::
- ↑ AX-12A, AX-18A, RX-24F, RX-28, RX-64, EX-106+, MX-28
- ↑ Sandeep Rai / Jun 22 2011 (2011-06-22). "DARWiN robot to assist disabled by tracking their eye movement". Gizmowatch.com. Archived from the original on 2012-04-26. Retrieved 2011-12-27.
- ↑ "Darwin-OP Learns To Play Dance Dance Revolution - IEEE Spectrum". Spectrum.ieee.org. Retrieved 2011-12-27.
- 1 2 "Me And My Robot Page 2 of 2". Forbes.com. 2011-05-23. Retrieved 2011-12-27.
- 1 2 Author Name: Dennis Hong (2011-05-12). "Robotis DARwIn-OP Raises The Bar | Robot Magazine - The latest hobby, science and consumer robotics, artificial intelligence". Find.botmag.com. Archived from the original on 2011-01-01. Retrieved 2011-12-27.
- ↑ "RoboCup 2011 Kid Size: USA / Japan (Final)". YouTube. 2011-07-10. Retrieved 2011-12-27.
- ↑ "Robot Soccer Stars Win World Cup Trophy for U.S. - Video". Bloomberg. 2011-09-09. Retrieved 2011-12-27.
- ↑ http://www.cs.columbia.edu/~allen/F11/NOTES/RoboCup.pdf
- ↑ Hornyak, Tim (2011-07-12). "U.S. droids carry the day at 2011 RoboCup finals | Crave - CNET". News.cnet.com. Retrieved 2011-12-27.
- ↑ RoMeLa RoboCup 2012: Team DARwIn repeats win at RoboCup in Kid-Size division
- ↑ https://www.youtube.com/watch?v=M4DvlAb4eA4
- ↑ https://www.youtube.com/watch?v=3jesBT-xp1A
- ↑ https://www.youtube.com/watch?v=L-jm3Pn9GVg&feature=youtu.be
- ↑ https://www.youtube.com/watch?v=Svq302_Vyjk&feature=youtu.be
- ↑ https://www.youtube.com/watch?v=D4xaaJNBhlk
- ↑ "ICRA 2012 Home Page". Icra2012.org. Retrieved 2011-12-27.
- ↑ Guillermo Cornejo L. - Grupo Fidalex. "RoboCup Mexico 2012". Robocup2012.org. Retrieved 2011-12-27.
- ↑ FIRA (2011-11-22). "FIRA News - [NOTICE] Special offer for FIRA teams". Fira.net. Retrieved 2011-12-27.
- ↑ Robotis. "Winner 2012 DARwIn-OP Humanoid Application Challenge".
- ↑ http://robotics.gatech.edu/hg/item/215691
- ↑ http://aalab.cs.umanitoba.ca/
- ↑ http://www.seas.upenn.edu/media/feature-darwin.php
- ↑ http://www.vtnews.vt.edu/articles/2012/06/062812-engineering-robocup.html
- ↑ 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
- ↑ University of Manitoba. "SnoBots win at international robotics competition in Kuala Lumpur".
External links
 |
Wikimedia Commons has media related to DARwIn-OP. |
- Official website (English) (Japanese) (Korean)
- DARwIn-OP on SourceForge.net
- Official Community (English)
