PHYSICAL PARAMETERS

Size:

  • height: 350 mm,
  • head diameter: 250 mm,
  • base width: 186 mm,
  • base depth: 136 mm.

Weight:

  • approx. 5 kg (11 lbs).

Material:

  • chassis: aluminum,
  • covers: PA2200 (printed in SLS technology), possible custom colors.

 

POWER SUPPLY & CONNECTORS

Power: 

  • external fanless power supply, 
  • 12V DC (min 10V, max. 14.8V),
  • 15A.

Connectors:

  • 1x USB 2.0 (all robot’s subsystems),
  • 1x USB 3.0 (when using Kinect v2),
  • 1x power connector (custom).

 

MOTION

11 degrees of freedom:

  • 3 - neck,
  • 1 - chin,
  • 1 - forehead,
  • 2 - eyes,
  • 4 - eyelids.

Neck and discs drive system: Robotis Dynamixel MX-series (MX28R, MX64R, MX106R), all utilizing Maxon RE-max series motors with 12-bit magnetic encoders.

Eye ejection mechanism: 

  • 10 cm eye ejection range,
  • IGUS drylin LW-SLN 27-02 with PTGSG-05x05-R-ES screw,
  • driven by maxon DCX22S GB SL 12V motors with 10-bit ENX16 EASY 1024IMP magnetic encoders.

Eyelid and eyebrow drive system: High-end micro RC-servomotor MKS DS75K-N.

 

TOUCH SENSORS

Five touch sensing points (electrodes) based on capacitive scan method. Accessed via Dynamixel protocol.

Features: Noise detection and touch detection algorithm for reduced false touches when faced with electrical noise.

 

CONTROL PLATFORM

MASTER PC CONTROLLER ALTERNATIVES:

  • mobile DC powered computer integrated into the robot’s base,
  • external AC powered computer,
  • external mobile DC powered computer.

Specification:

  • 3rd Generation Intel Quad Core i7 Platform,
  • 8GB Memory (DDR3 1333/1600MHz),
  • min. 120GB SSD disk,
  • embedded graphics (Intel® HD Graphics),
  • Gigabit LAN controller (Intel 82579LM),
  • Audio Line-Out and Mic-In,
  • Wireless LAN (optional),
  • 2x USB 2.0,
  • 2x USB 3.0,
  • 1x 2.5-inch SATA II,
  • 1 x full-size mSATA. 

ONBOARD MOTION CONTROLLER:

Specification:

  • Freescale Semiconductors MK40DN512VLK10 MCU,
  • ARM Cortex M4 @ 100MHz,
  • 512KB flash,
  • 128KB RAM,
  • low-power hardware touch sensor interface,
  • 4 channel servomotor control with current measurement,
  • 2 channel DC motor control with current measurement,
  • USB/RS485 communication,
  • Freescale MQX RTOS

 

VISION

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

  • 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.

Stereo speakers: mounted in the lower disc (option).

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

 

CONTROL

Urbi: Whole, ready-made control system extendable by numerous plugins responsible for hardware abstraction and integrating external software libraries.

Simple terminal: Communication with all motors and touch sensors via Dynamixel protocol utilizing serial port.

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

ROS: All robot components accessed via ROS; Dynamixel servomotors, RGB camera and Kinect have their ready-made ROS nodes

 

 

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

FLASH Documentation