Robotis - Bioloid Comprehensive Kit

The Bioloid Robot Kits present a modular, flexible Intelligent robot platform.

The kit is built around a flexible frame system, allowing for easy construction and modification of multiple Robot shapes. The Manual includes 26 documented shapes and you can also build your own custom Robot with up to 253 servos (DoF).

The unique Dynamixel Servo Protocol, makes it a breeze to exend the Robot with more servos and offers advanced features including catch-and-play for easy programming, overload protection and a number of other parameters advanced tuning of your Robot.

Some of the 26 constructions included in the Manual. (click on the images above to see the assembly videos) From 1 servo constructions up to 253 servos the Bioloid Kit offers great flexibility. The included Manual documents 26 Constructions but you can also design your own, unique, Robot shapes.

 
Frame Based Assembly Mechanism

The Frame Based Assembly System is the key to the Kit's flexibility. Each servo is assembled onto a frame. There are different types depending on the type of articulation. Each Frame+Servo combo is assembled with the next frame or servo building your way to a full robot. In detail, the Diagram on the left shows the casing of both the AX-12+ and AX-S1. You can see on this diagram that there are a number of mounting locations where M2 nuts can be slotted in and held in position. (There are 4 of these locations on each side, 2 at the bottom and these are repeated on the rear of the module). This clever design allows the many frames included in the Bioloid Kit to connect to the AX-12's and AX-S1's easily. Also, the rotating bush, i.e. the bushing mounted to the shaft, of the AX-12 also has 4 M2 Nuts that are held in place - this provides a 'thread' to make connection of frames easy as well.

Dynamixel Bus

The Bioloid uses a 1 wire digital bus to communicate with all peripherals (Servos, Sensors, etc.).
This bus consists of a Half Duplex UART running at TTL level (0-5V) and 1Mbps. The servos connect to each other in a Days Chain making for very easy construction and extension of the Robot.
By running at 1Mbps this bus enables advanced robot applications and control cycles that require high amounts of feedback received and commands sent the servos.

 
AX-12+ Networked Servo Motors

The included AX-12 servos offer high torque and reliability and are one of today's most popular servos among Robot enthusiasts, Universities and Research Institutions world wide. The connect to each other using the Dynamixel bus, offering High Speed communication (1Mbps half duplex) and ease of use with the Daisy-chain connection mechanism. Specifications at 10V: Reduction Ratio: 1/254 Torque: 16.5kg-cm Speed: 0.196sec/60deg

AX-S1 sensor module (Also Networked)

The AX-S1 Sensor module connects to the Robot Dynamixel bus as well and includes an important number of Sensors: 3 IR Distance Sensors (front, left and right) IR receiver Microphone Piezo-electric Sound Generator The user can easily create routines to make the Robot react to the Sensors (for example deviating from obstacles).

Software and Programming Options Available

Once the Robot is Assembled it can be programmed with Motions as well as Autonomous Behaviours to make the Robot react to the External Environment/Sensors.
There are now two Graphical Software Programming Suites available for the Comprehensive Kit plus an option for C programming (all of them are Free).

Motion Editor / Behaviour Control Program:
This is the original software designed for the Bioloid Comprehensive Kit. It includes the Motion Editor, a GUI that allows you to create motion sequences for your robot and the Behaviour Control Program, a GUI that allows you to program sequences of events/motions.

Motion Editor The motion editor has a graphical user interface that allows the user to edit a multi-jointed robot made up of Robotis servos. A user can create and edit motions by moving the joints by hand and saving each pose using the motion editor. The user can also connect or repeat edited motions.   Once a motion has been defined it can then be downloaded into the CM-5 controller and called from the Behaviour Control Program.

Behaviour Control Program The Behaviour control program is used to create a series of rules that define the action a robot should take for the given state (ie sensor input). A series of commands are entered that allow the programmer to interrogate ALL the functionality of the Robot: the AX-12+ (position, temperature, etc), AX-S1 (Distance Sensors, Sound Sensors) and the CM-5 controller (Timer, Push Buttons). A Typical example is reading the Distance Sensors and deviating from an obstacle whenever one is detected.

RoboPlus Suite
Roboplus is the most up-to-date Software Suite from ROBOTIS. It represents a leap forward from Motion Editor / Behaviour Control Program and is light years ahead of many competing Robot Kits.
(Details on how to Download and install Roboplus on your Bioloid can be found on the Robotis Tech Support Site.)

• RoboPlus Motion to create new Motion Sequences
  • Catch-and-play functionality
  • 3D Motion Editor
  • Inverse Kinematics Engine

  In addition it interoperates with Excel letting you design and fine tune motions and servo positions based on your calculations, something that was never before possible on any humanoid.
   

• RoboPlus Task Graphical Programming to create Autonomous Behaviours for the Robot
  
  Although this is a graphical tool, designed to be accessible, it uses the constructs of a structured programming language like C making it very powerful.
  You can use LOOPs, IFs, and FUNCTIONS letting you learn all about the basics of programming.
  In addition, RoboPlus Task includes a unique CALLBACK function (called every 8 ms) in a Task Switching style approach. This function can be used to make real time adjustments of walk and motions based on sensorial feedback from sensors.
   
• RoboPlus Manager and RoboPlus Terminal
  
  The Manager is designed to manage your Robot from one single place, offering Firmware Management and Dynamixel bus debug and interaction.
  The Terminal is a powerful tool where you can interact directly with the Robot through a command line. It can also be used to view Debug information from RoboPlus Task Programs.

 
Programming in WinAVR C for Advanced Applications and Research

The CM-5 controller board is based on the popular ATMEGA 128 micro processor. It is possible to program the CM-5 micro processor using the freeware WinAVR compiler available by AVR Freaks or any other compatible programming language. With the bootloader built into the CM5 you can conveniently download your code to the controller. This is an option for experienced programmers only though. On our Forum you will find a number of Libraries and Tips to program the Robot in C.

 
Additional Resources and Documentation

• Quick Start Manual
• User's Guide
• Tips and Tricks
• Bioloid Forum
  The forum offers useful resources about performing Advanced functions with the Robot and is a great source of tips and tricks as well as experiences from other users.
• Bioloid Comprehensive Kit Review by RoboSavvy
• Bioloid Wiki Page on RoboSavvy
  Includes Useful Information about the Protocol, Servos, Tips and Tricks and Extending the Robot with third party devices.

 
Kit Contents:

The Comprehensive Kit includes 18 AX-12+ networked servo motors (AX-12+), a networked AX-S1 sensor unit and a CM5 microcontroller. Power is supplied via a Rechargeable NiMH battery pack (9.6 V)

CM-5 Controller board (Atmel ATMega128 @ 16Mhz), 18x Dynamixel AX-12+ Servos 1x AX-S1 Sensor module, 1x Rechargeable battery pack (9.6V), 1x Power Supply 1x Serial Cable (9pin D-type) for Programming and Communication 1x Set of Frames (over 100 types included) Wheels, Tyres, Spacers, bushings, nuts & bolts. User Manual and Quick Start Guide   Additional Offer from RoboSavvy 1x USB to Serial Converter for easy USB connection to your computer   Optional / Recommended Acessories: The Bioloid Comprehensive does not include a remote Control but can befitted with one. If you wish to add Remote Control capabilities to your Bioloid Comprehensive, you'll need 1x RC-100 Remote + 1x Zig-100 Wireless pair

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