Robotis - Bioloid Comprehensive Kit
offering a Free USB to Serial Converter with all Bioloid Comprehensive
Kits for easy USB connection to the PC.
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
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
The included Manual documents 26 Constructions but you can also
design your own, unique, Robot shapes.
The Frame Based Assembly System is the key to the Kit's
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.
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
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
- 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 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.)
Programming in WinAVR C for Advanced Applications and
The CM-5 controller board is based on the popular ATMEGA 128 micro
It is possible to program the CM-5 micro processor using the
freeware WinAVR compiler available by
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
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
- 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
- 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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