View Original PDF

Robo-Erectus Jr-2013 KidSize Robot Specifications

Buck Sin Ng, Carlos A. Acosta Calderon, Changjiu Zhou

Advanced Robotics and Intelligent Control Centre

www.robo-erectus.org

Abstract This is a technical specification paper for the Robo-Erectus Jr-2013 KidSize humanoid robot, detailing both the REJr Bv-MkII+ and REJr Bv-MkIII robot models. The paper provides comprehensive specifications covering physical dimensions, degrees of freedom, sensors, actuators, and computing components for both robot platforms.

Physical Specifications of the REJr Bv-MkII+

The REJr Bv-MkII+ specifications include the following key characteristics:

  1. Physical Specifications: Weight of 4.1kg and height of 560mm.

  2. List of Degrees of Freedom: The robot features degrees of freedom in multiple joints:

    • Head: No roll
    • Shoulder: Roll degree of freedom
    • Elbow: No roll
    • Hip: Roll degree of freedom
    • Knee: No roll
    • Ankle: Roll degree of freedom

  3. Sensors: The robot is equipped with the following sensors:

    • Camera
    • Gyro (IMU): IDG500 with ±500°/sec angular rate
    • Accelerometer (IMU): ADXL335 with ±3g
    • Rate Gyro: LISY

  4. Actuators: The robot uses the following actuators:

    • Kondo KRS-4014
    • Kondo KRS-6003

  5. Specifications of the Boards:

    • High Level Host Processor: fitPC2i at 1600 MHz
    • Low Level Micro-processor: dsPIC32

Physical Specifications of the REJr Bv-MkIII

The REJr Bv-MkIII specifications include the following key characteristics:

  1. Physical Specifications: The robot has the following physical parameters:

    • Weight: 3.5kg
    • Height: 540mm
    • Width: 220mm
    • Depth: 180mm
    • Walking Speed: 40cm/sec

  2. List of Degrees of Freedom: The robot features the following degrees of freedom:

    • Head: Pitch and Yaw
    • Shoulder: Roll and Pitch
    • Elbow: Pitch
    • Hand: Pitch
    • Hip: Roll, Pitch, and Yaw
    • Knee: Pitch (dual)
    • Ankle: Roll

  3. Sensors: The robot is equipped with the following sensors:

    • Camera: 0x240 Resolution 30fps
    • Gyro (IMU): IDG with ±0°/sec angular rate
    • Accelerometer (IMU): L335 with ±3g
    • Rate Gyro: LISY with ±300 AL ±3 and ±00°/sec angular rate

  4. Actuators: The robot uses the following actuators:

    • Kondo KRS-4014: 40.8 kg.cm @ 10.8v, 0.19 sec / 60 deg @ 10.8v
    • Kondo KRS-6003: 67.0 kg.cm @ 11.1v, 0.22 sec / 60 deg @ 11.1v

  5. Specifications of the Boards:

    • High Level Host Processor: fitPC2i
    • Low Level Micro-processor: dsPIC32 at 800 MHz