[Robot-Head] [-Eyes] [-Ears] [Control System] [Vision System] [Host Computers] [Design]
Robot Specifications
HEAD
| Actuators (3DOF) | ||
| Type | Pittman LO-COG | |
| Signal rate | 1000Hz | |
| Range | ||
| Rotation | lateral: 55 degrees | |
| Tilt | left and right: 20 degrees ea. | |
| Nod | up and down: 30 degrees ea. | |
| Maximum acceleration | ||
| Roation | 1600 degrees/sec2 | |
| Tilt | 400 degrees/sec2 | |
| Nod | 800 degrees/sec2 | |
| Linear Position Sensors (3 nos.) | ||
| Type | JDK, Data Instruments | |
| Sampling rate | 1000Hz | |
| Accelerometers (3 nos.) | ||
| Type | AnalogDevices ADXL 150EM-3 | |
| Sampling rate | 1000Hz | |
| Load Sensors (3 nos.) | ||
| Type | Sensotec 31 | |
| Sampling rate | 1000Hz | |
| 6 axis Gyroscope | ||
| Type | Murata ENC-03J | |
| Sampling rate | 1000Hz | |
EYES
| Actuators (4 nos.) | ||
| Type | Sarcos NetCAM, WebCAM | |
| Signal rate | 1000Hz | |
| Range | ||
| Horizontal | lateral and medial: 35 degrees ea. | |
| Vertical | up and down: 35 degrees ea. | |
| Maximum acceleration | ||
| Horizontal | 1875 degrees/sec2 | |
| Vertical | 1875 degrees/sec2 | |
| Position Sensors (4 nos.) |
||
| Type | JDK, Data Instruments | |
| Sampling rate | 1000Hz | |
| Wide angle cameras (2 nos.) | ||
| Type | Panasonic GP-KS-1000 | |
| Sampling rate | 30 frames per second | |
| Angle | xxx degrees | |
| CCD | 1/2 inch Interline Transfer CCD | |
| Effective pixels | 830(H) x 970(V) | |
| Scanning system | 2:1 interlace 525 lines | |
| Video output | NTSC | |
| S/N ratio | 54dB | |
| Foveal cameras (2 nos.) | ||
| Type | Sony DXC-LS1 | |
| Sampling rate | 30 frames per second | |
| Angle | xxx degrees | |
| CCD | 1/4 inch Interline Transfer CCD | |
| Pixels | 768(H) x 494(V) | |
| Scanning system | 2:1 interlaced 525 lines | |
| Video output | NTSC | |
| S/N ratio | 46dB | |
EARS
| Microphones (2 nos.) | ||
| Type (interchangeable cartridge) |
Shure MX - supercardoid (184) - omnidirectional (183) |
|
| Pre-amps (2 nos.) | ||
| Type | Shure MX1BP | |
| Maximum output level | -8.6dBV | |
| Impedance | 115ohm at 1000Hz | |
| Amps (2 nos.) | ||
| Type | RDL STM-2 | |
| Gain | 50dB | |
| Impedance | 150ohm | |
Control System Specifications
| VME bus | ||
| CPU boards (3 nos.) | ||
| Type | Motorola MVME2400-0331 | |
| MPU | PPC604 / MPC750 | |
| Memory | 64MB | |
| PCMCIA I/O daughter boards (3 nos.) | ||
| Type | Motorola PMC-16LCAIO | |
| Input | 32 16bit A/D ports | |
| Output | 4 16bit D/A ports | |
| Transition board (1 nos.) | ||
| Type | Motorola MVME761 | |
| Operating System | ||
| Type | WindRiver VxWorks5.4 | |
Vision System Specifications
| Vision tracking boards (2 nos.) | ||
| Type | Fujitsu BMDL-3 | |
| Quad color system | ||
| Type | Panasonic WJMS424 | |
| Monitor | ||
| Type | Panasonic CT-2086Y | |
Host Computers Specifications
| Computers ( 2nos.) | ||
| Type | Sun Sparc Blade100 | |
| Operating System | Sun Solaris 8 | |
| Development environment | ||
| Type | WindRiver Tornado | |
Design Drawings and Scales
 Design Drawing 1 |
 Design Drawing 2 |
 Design Drawing 3 |