DARwIn-OP

DARwIn-OP (Dynamic Anthropomorphic Robot with Intelligence–Open Platform) is a miniature-humanoid robot platform developed and manufactured by Korean robot manufacturer Robotis[1] in collaboration with Virginia Tech, Purdue University, and University of Pennsylvania. It is also supported by a $1.2 million NSF grant.[2] DARwIn-OP has twenty degrees of freedom, each controlled by a DYNAMIXEL MX-28T[3] servo motor.

Simulation of a Robotis DARwIn-OP in Webots

DARwIn-OP's main purpose is for research and programmers in the fields of humanoid, artificial intelligence, gait algorithm, vision,[4] inverse kinematics, and linguistics, among others.[5][6]

DARwIn-OP is also the winner of the Kid Size League in the RoboCup 2011[7][8][9][10] 2012 League,[11] and 2013 League. With the release of the ROBOTIS OP2, the name of DARwIn-OP has also changed.[12]

Specifications

DARwIn-OP
  • Discontinued and replaced with ROBOTIS OP2 – new specs below
  • Height: 454.5 mm (17.89 in)
  • Weight: 2.9 kg (6.4 lb)
  • Default walking speed: 24.0 cm/s (9.5 in/s) 0.25 s/step – user modifiable gait
  • Default standing up time from ground : 2.8 s (facing down) and 3.9 s (facing up) – user modifiable speed
  • Built-in PC: 1.6 GHz Intel Atom Z530 (32 bit) on-board 4 GB flash SSD
  • Management controller (CM-730): ARM CortexM3 STM32F103RE 72 MHz
  • 20 MX-28T actuators (6 DOF leg × 2 + 3 DOF arm × 2 + 2 DOF neck) with metallic gears
  • 3 Mbit/s high-speed Dynamixel bus for joint control
  • 3-axis gyro, 3-axis accelerometer, button × 3, detection microphone × 2
  • Versatile functionality (can accept legacy, current, and future peripherals)
  • Price: $12,000

ROBOTIS OP2
  • Height: 454.5 mm (17.89 in)
  • Weight: 2.9 kg (6.4 lb)
  • Default walking speed: 24.0 cm/s (9.5 in/s) 0.25 s/step – user modifiable gait
  • Default standing up time from ground : 2.8 s (facing down) and 3.9 s (facing up) – user modifiable speed
  • 20 MX-28T actuators (6 DOF leg × 2 + 3 DOF arm × 2 + 2 DOF neck) with metallic gears
  • CPU : Intel Atom Processor N2600 (dual core, 1.6 GHz)
  • RAM : 4GB (DDR3 204-pin SO-DIMM module), user-replaceable
  • SSD : SSD / mSATA module (unlimited space), user-replaceable
  • OS : Linux and Windows
  • User-accessible ports : 2 x USB2.0, mini HDMI, LAN (gigabit), mic/audio line in, out)
  • Price: $9,600

A 3D visualization of the robot (including all the DOFs and LEDs) is available here.[13]

ROBOTIS OP3
  • Height: 510.4 mm (20.09 in)
  • Weight: 3.5 kg (7.7 lb)
  • 20 XM430-W350-R actuators (6 DOF leg × 2 + 3 DOF arm × 2 + 2 DOF neck) with metallic case & gears
  • CPU : Intel NUC with Intel Core i3 processor dual core
  • RAM: 8GB DDR4, user-replaceable
  • Storage: 128GB M.2 SSD, user-replaceable
  • Camera: Logitech C920 HD Pro Webcam
  • OS : Linux (64-bit)
  • Price: $11,000

Different Applications
CountryApplicationUniversityVideo
USATheraptist for Cerebral PalsyGATECH[14]
USADDR MotionsPurdue University[15]
USARoller SkatingVirginia Tech[16]
USAForkliftUNLV-DASL
USALadder ClimbingUNLV-DASL[17]
CanadaSkiingUniversity of Manitoba[18]
USADrivingDrexel University[19]
USACarrying waterUNLV
USA3D PrintingMichael Overstreet[20]
USAPlay GolfPurdue University[21]
CanadaIce HockeyUniversity of Manitoba[22]
CanadaBicycleUniversity of Manitoba[23]
UnknownKinectUnknown[24]
UnknownWeight LiftingUnknown[25]
UKDynamic Dance & Beat TrackerMartin Lyne[26]

Many source codes are being shared and are open. * (in English)

Competitions

This platform is currently used in the ICRA, RoboCup, FIRA, and Humabot competition. Links below.

ICRA Humanoid Application Challenge

Beginning in 2012 ROBOTIS and IEEE ICRA has sponsored the DARWIN-OP Humanoid Application Challenge, held at the ICRA conference. The competition encourages participants to solve novel problems using DARWIN-OP and present their findings at the conference. Winners are selected by a panel of experts as well as popular vote amongst the participants. The winning team has been awarded the DARWIN-OP Deluxe Edition for two consecutive years along with software(s). All finalists are also rewarded. As of 2015, the challenge name has changed to Humanoid Application Challenge and is now open to all applications.

Winners
YearWinning TeamProject DescriptionCompetition Location
2012University of ManitobaIce skating/Ice hockey[30]Minneapolis-St Paul
2013Georgia TechCase-based reasoning, learning from demonstration[31]Karlsruhe, Germany
2014CancelledCancelledHong Kong
2015University of ManitobaAlpine and cross-country skiing[32]Seattle, WA - USA
2016CancelledCancelledStockholm, Sweden

RoboCup

The DARWIN-OP robot is currently used by several teams in the RoboCup kids-size competition (humanoid robots 40–60 cm tall) and have shown excellent performance by the teams using this platform.

Kid-Size League Winners[33][34][35]
YearRankTeam NameCountryUniversity
20111st PlaceTeam DARwInUSAVirginia Tech and UPenn
20121st PlaceTeam DARwInUSAVirginia Tech and UPenn
20131st PlaceTeam DARwInUSAVirginia Tech and UPenn
20142nd PlaceBold HeartsUKUniversity of Hertfordshire

FIRA

DARWIN-OP robots are used by some teams in the kids-size HuroCup competition at FIRA. A team from the University of Manitoba won best overall at the 2013 competition using a DARwIn-OP.[36] By 2017, team ICHIRO from Institut Teknologi Sepuluh Nopember won 10 medals and broke two world records in sprint and marathon using Darwin-Op.[37]

Robotbenchmark

Since August 2017, the ROBOTIS OP2 is used in an online contest called Humanoid Marathon on robotbenchmark. In this contest it is possible to program a simulated robot in Python using a web interface.

Community

Due to its openness and easy maintenance, many researchers favor and hope to create a clone version of their own. DARWIN-OP is currently being used at the labs/universities below :

See also

References
  1. "팝업레이어 알림". Robotis. Retrieved 2019-05-14.
  2. "Me And My Robot Page 2 of 2". Forbes. 2011-05-23. Retrieved 2011-12-27.
  3. "AX-12A, AX-18A, RX-24F, RX-28, RX-64, EX-106+, MX-28". Support.robotis.com. Retrieved 2019-05-14.
  4. Sandeep Rai / Jun 22 2011 (2011-06-22). "DARWiN robot to assist disabled by tracking their eye movement". Gizmowatch.com. Archived from the original on 2012-04-26. Retrieved 2011-12-27.
  5. "Darwin-OP Learns To Play Dance Dance Revolution – IEEE Spectrum". Spectrum.ieee.org. Retrieved 2011-12-27.
  6. Author Name:  Dennis Hong (2011-05-12). "Robotis DARwIn-OP Raises The Bar | Robot Magazine – The latest hobby, science and consumer robotics, artificial intelligence". Find.botmag.com. Archived from the original on 2012-01-01. Retrieved 2011-12-27.
  7. "RoboCup 2011 Kid Size: USA / Japan (Final)". 2011-07-10. Retrieved 2011-12-27 – via YouTube.
  8. "Robot Soccer Stars Win World Cup Trophy for U.S. – Video". Bloomberg. 2011-09-09. Retrieved 2011-12-27.
  9. https://www.cs.columbia.edu/~allen/F11/NOTES/RoboCup.pdf
  10. Hornyak, Tim (2011-07-12). "U.S. droids carry the day at 2011 RoboCup finals | Crave". CNET. Retrieved 2011-12-27.
  11. Steven D. A. Mackay (2012-06-23). "RoMeLa RoboCup 2012: Team DARwIn repeats win at RoboCup in Kid-Size division". Romelarobocup.blogspot.mx. Retrieved 2019-05-14.
  12. https://web.archive.org/web/20150522110858/http://www.robotis-shop-en.com/?act=shop_en.goods_view&GS=2490&GC=GD070001. Archived from the original on 2015-05-22. Retrieved 2015-05-22. Missing or empty |title= (help)
  13. "Webots". Cyberbotics.com. Retrieved 2019-05-14.
  14. Knight, Will. "A robot physical therapist helps kids with cerebral palsy". MIT Technology Review.
  15. "DDR motions with Darwin-OP". 2011-07-21. Retrieved 2019-05-14 – via YouTube.
  16. "DARwIn OP Robot Roller Skating". 2013-02-01. Retrieved 2019-05-14 – via YouTube.
  17. "Darwin-OP Climbing the ladder up". 2013-07-22. Retrieved 2019-05-14 – via YouTube.
  18. "Jennifer Goes Cross-Country and Alpine Skiing". 2015-01-30. Retrieved 2019-05-14 – via YouTube.
  19. "Darwin-OP ICRA 2012". 2012-02-10. Retrieved 2019-05-14 – via YouTube.
  20. "Robby – 3D Printed ( ROBOTIS-OP or DARwIn-OP ) walk test 04/12/2015". 2015-04-12. Retrieved 2019-05-14 – via YouTube.
  21. "DARwIn-Pete (Golf): [2015 ICRA] Humanoid Application Challenge". 2015-02-28. Retrieved 2019-05-14 – via YouTube.
  22. "Humanoid Robot Ice Hockey Player". 2012-02-09. Retrieved 2019-05-14 – via YouTube.
  23. "Jeff Darwin Rides the Bicycle". 2014-03-27. Retrieved 2019-05-14 – via YouTube.
  24. "Kinect DARWiN-OP". 2013-10-08. Retrieved 2019-05-14 – via YouTube.
  25. "Darwinop Weightlifting 20". 2013-08-04. Retrieved 2019-05-14 – via YouTube.
  26. "Dynamic Dance & Beat Tracker". 2018-08-03. Retrieved 2019-05-14 – via YouTube.
  27. "ICRA 2012 Home Page". Icra2012.org. Archived from the original on 2012-01-21. Retrieved 2011-12-27.
  28. Guillermo Cornejo L. – Grupo Fidalex. "RoboCup Mexico 2012". Robocup2012.org. Retrieved 2011-12-27.
  29. FIRA (2011-11-22). "FIRA News – [NOTICE] Special offer for FIRA teams". Fira.net. Archived from the original on 2012-04-25. Retrieved 2011-12-27.
  30. Robotis. "Winner 2012 DARwIn-OP Humanoid Application Challenge". Archived from the original on 2015-08-25. Retrieved 2013-04-25.
  31. "Institute for Robotics and Intelligent Machines". Robotics.gatech.edu. 2013-05-31. Retrieved 2019-05-14.
  32. "Autonomous Agents Laboratory – Home". Aalab.cs.umanitoba.ca. Retrieved 2019-05-14.
  33. "Penn Engineering". Seas.upenn.edu. Retrieved 2019-05-14.
  34. Steven Mackay (2012-06-28). "Virginia Tech repeats RoboCup soccer win in Adult- and Kid-sized divisions | Virginia Tech". Vtnews.vt.edu. Retrieved 2019-05-14.
  35. Behnke, Sven; Veloso, Manuela M.; Visser, Arnoud; Xiong, Rong (2014-07-16). RoboCup 2013: Robot World Cup XVII – Google 도서. ISBN 9783662444689. Retrieved 2019-05-14 – via Google Books.
  36. "SnoBots win at international robotics competition in Kuala Lumpur". University of Manitoba.
  37. Republika. "Robot ITS Raih Juara Umum di Beijing".
  38. https://web.archive.org/web/20120105174557/http://www.romela.org/main/Robotics_and_Mechanisms_Laboratory. Archived from the original on 2012-01-05. Retrieved 2011-12-27. Missing or empty |title= (help)
  39. "GRASP lab | general robotics, automation, sensing & perception laboratory at Penn". Grasp.upenn.edu. Retrieved 2019-05-14.
  40. "ARTLab | Assistive Robotics Technology Laboratory". Engineering.purdue.edu. Retrieved 2019-05-14.
  41. "Home – Bold Hearts". Robocup.herts.ac.uk. Retrieved 2019-05-14.
  42. "Hamburg Bit-Bots – RoboCup AG an der Universität Hamburg". Bit-bots.de. Retrieved 2019-05-14.
  43. "Newcastle Robotics Laboratory / Engineering and Built Environment Research / Centres / Research and Innovation / The University of Newcastle, Australia". Newcastle.edu.au. Retrieved 2019-05-14.
  44. https://archive.is/20130413165847/http://www.ftsm.ukm.my/robotsoccer. Archived from the original on 2013-04-13. Retrieved 2013-02-18. Missing or empty |title= (help)
  45. "Centre CEA Marcoule – Accueil". Marcoule.cea.fr. 2019-05-07. Retrieved 2019-05-14.
  46. "darwinop-ens/darwin-op: This is an unofficial repository containing all the changes we made on the original code base from http://sourceforge.net/project/darwinop". GitHub. Retrieved 2019-05-14. External link in |title= (help)
  47. https://web.archive.org/web/20150522111823/http://www.unirel.vt.edu/audio_video/2010/12/2010-12-21-DARwIn-OP.html. Archived from the original on 2015-05-22. Retrieved 2015-05-22. Missing or empty |title= (help)
  48. https://web.archive.org/web/20150522120345/http://dasl.mem.drexel.edu/wiki/index.php/Main_Page. Archived from the original on 2015-05-22. Retrieved 2015-05-22. Missing or empty |title= (help)
  49. "Ichiro ITS". Ichiro ITS. Retrieved 2019-05-14.
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