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Scarlet - Technical Specification ver. 3.1
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Humanoid Robot
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Scarlet’s technical specification has been grouped into the three following sections: 
  Physical details, 
  Electrical and control details and 
  Anatomical breakdown. 
These give the overall physical sizes, mechanical, electrical and control equipment 
content, and the anatomical breakdown gives an indication of the location of all of 
the parts related to each other.


Physical details
----------------

  Scale  - Approx 1/3 Human in both linear and volumetric (weight) 
           Proportions approximately human

  Height - 670 mm

  Width  - 270 mm

  Depth  - 150 mm

  Weight - 3.3 kg (servos total weight 1 kg, battery 0.45 kg)

  Joints 
                             Servos  DoF
    13 single axis
        Eye focus x 2           1     2
        Neck rotate             1     1
        Arm rotate x 2          2     2
        Elbow joint x 2         2     2
        Right hand              1     1
        Left wrist              1     1
        Knee joint x 2          2     2
        Toes x 2                2     2
    8 multiple axis
        Head tilt and incline   2     2
        Shoulders x 2           4     4
        Upper body              2     2
        Hip joint x 2           6     6
        Ankle joint x 2         4     4
    Totals                     30    31  

  Bearings - 16, two per joint on the ankles, knees, leg (fore and aft) and leg rotation

  Servos - 30 (1 micro, 13 mini, 2 mini high torque, 2 standard, 12 standard high torque)

  Links - 19

  Gear drives - 7 (6 at 2:1, 1 at 1:1)

  Direct drives	- 4

  Dampers - 2 between the pelvis and upper body


Electrical and control details
------------------------------

  Power supply - 3 Ah 7.2 volts NiMH, 12 amp diode 10 amp relay
                 Voltage regulated supply 2 amp 5 volts

  Microcontrollers
    Eleven Scenix SX28AC/DP microcontroller
                                                    MIPS  Clock-Speed		
      Right eye	                                             8 MHz	
      Left eye                                               8 MHz
      Vision processing                                     50 MHz	
      Head position control and upper body balance           8 MHz
      UART and voice generation                             32 MHz
      Balance and digital inputs                             8 MHz
      Motion synchronisation                                32 MHz
      Right leg servo control and torque feedback            8 MHz		
      Left leg servo control and torque feedback             8 MHz	
      Right arm servo control and torque feedback            8 MHz	
      Left arm servo control and torque feedback             8 MHz	

    Two Stamp2SX microprocessors
      Vision control and memory                             50 MHz	
      Master sequencer / controller                         50 MHz	

  Sensors - Seventy seven analogue and digital inputs
    16 x Right eye analogue input light sensors
    16 x Left eye  analogue input light sensors
     4 x Upper body balance digital
     4 x Pelvis balance digital
     4 x Right foot analogue pressure sensors
     4 x Left foot  analogue pressure sensors
     2 x Right hand digital
     2 x Left wrist digital
     1 x Battery voltage digital
     6 x Left leg  analogue torque feedback
     6 x Right leg analogue torque feedback
     6 x Left arm  analogue torque feedback
     6 x Right arm analogue torque feedback

  Outputs - Fifty five PWM and digital outputs
    30 x servos driven by Pulse Width Modulation
     1 x Speaker driven by Pulse Width Modulation
     1 x Servo power relay
    23 x LEDs (Power and communications indicators)

  PCBs - Eleven custom designed and fabricated PCB’s
     2 x Right and left eye sensor array 
     2 x Right and left eye vision processors
     1 x Vision analysis processor electronics
     1 x Head position control and upper body balance, UART and voice generation, 
         Vision control and memory
     1 x Balance and digital inputs, Motion synchronisation
        Master sequencer controller
     1 x Right and left arm servo control and torque feedback
     1 x Power management and battery voltage sensing
     2 x Right and left leg servo control and torque feedback


Anatomical breakdown
--------------------

  Head	
    4 servos - head turn, tilt up/down, tilt left/right, eyes focus 
        Head turn  - 1 x Ripmax SD200 Mini Servo  - Torque: 2.5 kg/cm, Weight: 16g
        Head tilt  - 2 x Ripmax SD200 Mini Servo  - Torque: 2.5 kg/cm, Weight: 16g
        Eyes focus - 1 x Futaba S3106 Micro Servo - Torque: 1.5 kg/cm, Weight: 10g
    2 cameras - each 16 pixel fixed focus with software intensity control
    1 speaker - 40 mm diameter 8 ohm
    3 SX28A - one per eye for ADC, one for vision processing
    5 PCBs - custom designed double sided	

  Upper body	
    2 servos - left and right arm raise / lower to side
        2 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
    6 SX28A
        Head motion, body balance
        Bidirectional communications with buffers (for stamps), sound generation
        Motion control
        Sensor input control
        Right arm servo control and load sensing
        Left arm servo control and load sensing
    2 BS2SX
        Vision input control and memory
        Master system controller
    3 PCBs - Electronics custom designed double sided
    1 PCB
        Power management 1 x 12 amp relay,
        power sensing, 
        5 volt 2 amp regulator
    1 balance sensor - 2 axis fixed angle digital (pendulum)
    2 vibration dampers	home-designed and fabricated, oil sealed, air damped

  Pelvis
    4 servos - 2 for upper body, 2 axis tilt, 2 for left and right leg rotation
      Body tilt  - 2 x Hitec HS-300 BB Servo - Torque: 3.5 kg/cm, Weight: 44.5g
      Leg rotate - 2 x Hitec HS-300 BB Servo - Torque: 3.5 kg/cm, Weight: 44.5g
    Battery - 6 cell, 3 Ah 7.2 volt NiMH
    1 switch - DPDT power and charging 
    1 charge socket
    4 balance sensors - two per axis, 10-degree mercury tilt switches

  Right arm
    4 servos - Hand open/close, forearm raise/lower, upper arm rotate
               Arm raise/lower for and aft
        Hand       - 1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
        Forearm    - 1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
        Arm rotate - 1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
        Arm raise  - 1 x HitecHS-225 MG Mini Servo - Torque: 4.8 kg/cm, Weight: 31g
    2 switches - Hand contact finger and palm

  Left arm	
    4 servos - Wrist left/right, forearm raise/lower, upper arm rotate
               Arm raise/lower for and aft
        Wrist      - 1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
        Forearm    - 1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
        Arm rotate - 1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
        Arm raise  - 1 x HitecHS-225 MG Mini Servo - Torque: 4.8 kg/cm, Weight: 31g
    2 switches - contact, wand left and right

  Right leg
    5 servos - Leg for/aft, leg in/out, knee forward/back, foot up/down
               Foot tilt in/out
        Leg raise   - 1 x Hitec HS-625 MG Servo - Torque: 6.8 kg/cm, Weight: 60g
        Leg lateral - 1 x Hitec HS-545 BB Servo - Torque: 5.5 kg/cm, Weight: 44.5g
        Knee        - 1 x Hitec HS-645 MG Servo - Torque: 9.6 kg/cm, Weight: 60g
        Foot raise  - 1 x Hitec HS-625 MG Servo - Torque: 6.8 kg/cm, Weight: 60g
        Foot tilt   - 1 x Hitec HS-300 BB Servo - Torque: 3.5 kg/cm, Weight: 44.5g
    1 SX28A - Right leg servo control and load sensing 
    1 PCB - custom designed double sided

  Left leg	
    5 servos - Leg for/aft, leg in/out, lower leg forward/back, foot up/down
               Foot tilt in/out
        Leg raise   - 1 x Hitec HS-625 MG Servo - Torque: 6.8 kg/cm, Weight: 60g
        Leg lateral - 1 x Hitec HS-545 BB Servo - Torque: 5.5 kg/cm, Weight: 44.5g
        Knee        - 1 x Hitec HS-645 MG Servo - Torque: 9.6 kg/cm, Weight: 60g
        Foot raise  - 1 x Hitec HS-625 MG Servo - Torque: 6.8 kg/cm, Weight: 60g
        Foot tilt   - 1 x Hitec HS-300 BB Servo - Torque: 3.5 kg/cm, Weight: 44.5g
    1 SX28A       - Left leg servo control and load sensing
    1 PCB         - custom designed double sided

  Right foot - 1 servo, Toe up/down
    1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
    4 load sensors - Custom design using pressure sensitive rubber

  Left foot - 1 servo, Toe up/down
    1 x Ripmax SD200 Mini Servo - Torque: 2.5 kg/cm, Weight: 16g
    4 load sensors - Custom design using pressure sensitive rubber