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Description
- Well-proportioned 1m tall humanoid shaped robot
- Fall detection algorithm utilizing a 9-axis IMU sensor
- 300FPS vision processing at 320x240 pixels
- Fully supports soccer mode for Robocup competition
- Walking algorithm for biped humanoid robot with balancing control
The Robobuilder UXA-90 Humanoid Robot is a well-proportioned 1m tall humanoid shaped robot. It has been designed with a structure similar to the ratio of the ideal human body. Since the skeletal structure of the robot imitates the one from a human, it is possible to produce humanlike movement patterns. Because it uses various programming sources, it can be controlled in a lot of different ways. The robot also has pre-programmed emotional gestures and mouth expressions with synchronized sounds.
Provided source files for the whole body design and pre-designed STEP files for exterior and base frame
Users can create a new appearance for the robot using the various pre-designed source files. The source files provide details to assemble the structure such as size, position of devices, bolts and nuts.
Provide Various Application
From a performance on stage to a presentation on behalf of a person, this robot does it all. In addition, the robot can be used to participate in a humanoid robot competition and can also be used as a platform in research for HRI and AI as well as education of programming.
Education
- Programming language & algorithm
- Designing mechanism
Perfomace & advertisement
- Dynamic dance in events
- Robot plays in theater
- Exhibition to promote products
Service
- Presentation
- Providing information
Research
- HRI (Human Robot Interaction)
- Artificial intelligence
- Humanoid robot competition
Provide various programming source code and libraries based on open source
Windows based Object Recognition Software
- Visual C# source code for tracking an object with vision processing
- UXA90 can play soccer on its own at ROBOCUP competition
Management software tools
- SAM control software for managing servos individually
- Contents and motion building tool
- Behavior pattern planning tool
- Motion management tool
Android based
- Android app for control and build
- Android app controls and creates behavior and motion patterns wirelessly
Linux Based
- R.O.S-based framework
- Gazebo for 3D rigid-body dynamics simulation
- Rviz plugin for 3d visualization environment
Features
- Body design resembling Da Vinci's Vitruvian Man
- Very good at kicking the ball and localizing the net
- Speech and play sounds with 3W speaker
- Recognize and track the color and shape of an object (e.g. an orange ball)
- Real time distance calculations
- Embedded automatic getting-up behavior function from the supine posture
- Provide software tool for building performance motions easily
- Performance motion can be fully synchronized with the sound source
Robot
- Height: 100cm
- Width: 35cm
- Weight: 9kg
- Walking Speed: 30cm/s, Full step walking forward
PDF File
Degrees of freedom
- 23 DOF
- 12 DOF Leg, 8 DOF Arm
- 1 DOF Waist, 2 DOF Head
4-DOF Arm (x2)
- Elbow: 2 DOF SAM30 x2
- Shoulder: 2 DOF (SAM160 x1/ SAM100 x1)
6-DOF Leg (x2)
- Hip: 3 DOF (SAM160x1 / sam210 x2)
- Knee: 1 DOF (SAM210 x1)
- Ankle: 2 DOF (SAM210 x2)
- 1-DOF waist (x1): 1 DOF (SAM160x1)
- 2-DOF head (x1): 2 DOF (SAM30 x2)
Sensors
- Inertial: IMU 2g 9axis, +- 180 degree (roll/yaw), +-90 degree (pitch)
- FSR module (optional) x2: 4 sensors in each foot
Computer
- CPU: Intel Core i3-1115G4 Processor (6m Cache, up to 4.10GHz),
- Samsung DDR4 8GB PCS-21300
- Crucial P2 M.2 NVMe 250GB TLC
- Wireless: Bluetooth / Intel WI-FI 6 AX201
External interfaces
- USB 2.0 x2, Ethernet 10/100/1000 Base T
- USB 3.0 x2, HDMI x1
Interfaces
- Speaker: 1 set
- Microphone: 1 set
- Vision camera: HD 1920 x 1080 px
Battery
- Type: LiPo 18.5V, 3000mA
- Operating duration: 20min (frequent movement) / 40min (stand-by)
- Charging time: 30min
OS: Windows 7 or Linux Ubuntu 14.04
Windows based
- Easy motion building software/ soccer mode C# application / MSRDS samples with Kinect sensor
- Autonomous soccer mode, performance mode, presentation mode
- Pre-programmed walking and performance motions
Linux Ubuntu 20.04 LTS (ROS1 Noetic, OpenCV 4.x.x, QT compiler)
- ROS base middleware package
- Gazebo for 3D rigid body dynamics simulation
- Rviz plugin for 3D visualization environment
- Walking / Grasping / Recognition Control