[robocup-legged] A Standard Robot Platform for Robot Soccer

[Fuminori Yamasaki]

Dear Robocup-legged researchers,

We are robot development company in Japan, and we have developmed a
platform robot for 4-legged league.
I have heard from Prof. Okada at Tamagawa Univ. that we can introduce
our robot on this mail.

The picture and schematic drawing are enclosed this mail.
And the brief specification of this robot platform is that;

* Size : As same as AIBO
* Weight : 2.5kg (final version will be more right)
* Battery : 10.8V 600mAh (NiMH)   (about 40min operation)
* DOFs : 15 (3 DOFs in each leg, 2 DOFs in neck and 1 DOF in tail)
* Actuator
 [Size]   43 x 32 x 32.5mm
 [Weight] 65g
 [Torque] 40.8kgcm
 [Driving voltage] from 9 to 12V
 [Driving range] 270 degree
 [Communication] serial interface (625kbps)
* Sensor
 15 potentiometers on each actuators
 4 Touch sensors on each foot tip
 Battery voltage reference (use 1 ADC port on a control board)
 Gyros (option)
 Accelerometers (option)
* Control board
 [CPU] ARM920-T core processor, 200MHz
 [OS] customized Linux (Kernel 2.6 series)
 [LAN] 10Base-T/100Base-TX  (wire)
       IEEE802.11b/g  (Wi-Fi)
 [Interface] LAN, RS232C, USB1.1
 [Peripheral] 24chPWM(50Hz), 8ch ADC(10bit), 2ch RS232C serial,
              1ch TTL serial
* Color detect board
 [Camera] CMOS sensor (640x480pixel)
 [Function] 6 colors detect
           (calcurate center gravity and size of each colors)
            image data(320 x 240 with digit data)
 [Frame rate] max 30fps

However now we are blush up this robot, therefore, the detail
specification will be changed.
Also we would like to have your requirements for this robot.

Best regards
Fuminori Yamasaki


iXs Research Corp.
C.E.O.   Fuminori Yamasaki          yamasaki at ixs.co.jp
http://www.ixs.co.jp
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