Bioloid GP Kinematics
Bioloid GP Kinematics
by i-Bot
Tue May 03, 2011 11:51 am
Does anyone have any close up pictures of the Bioloid GP motor arrangement especially the hip ?
I have been comparing the kinematic structure of DARwin OP to that of the Bioloid Premium Humanoid A and the Comprehensive Humanoid. These all appear to be kinematically identical with a kinematically spherical hip. a knee and a roll and pitch ankle with aligned axes. There are some differences in directions and offsets on the motors.
From the few pictures I have of the GP, it appears the hip at least is different. Can anyone confirm ?
I have been comparing the kinematic structure of DARwin OP to that of the Bioloid Premium Humanoid A and the Comprehensive Humanoid. These all appear to be kinematically identical with a kinematically spherical hip. a knee and a roll and pitch ankle with aligned axes. There are some differences in directions and offsets on the motors.
From the few pictures I have of the GP, it appears the hip at least is different. Can anyone confirm ?
by nunogato
Tue May 03, 2011 2:51 pm
Hi i-Bot
Check this Picasa Album: https://picasaweb.google.com/sales.robosavvy/BioloidGP
It has all the photos that we take when we assembled the GP.
Here is one of them
Check this Picasa Album: https://picasaweb.google.com/sales.robosavvy/BioloidGP
It has all the photos that we take when we assembled the GP.
Here is one of them
by PedroR
Wed May 04, 2011 9:52 am
Hi Mohit
The information we have is that Robotis will _not_ be selling the Bioloid GP frames separatelly.
To make the upgrade you need the Frameset + 10 AX-18A servos.
(FYI the cost of the AX-18A servos itself (retail) is over 600 GBP).
On the Bioloid GP some frames are designed and assembled at different angles so if you want to get the AX-18 servos for your Bioloid, make sure to adjust the motions accordingly.
It is possible to add AX-18A to your Bioloid PREMIUM (or comprehensive) using the plastic Bioloid Frames since they are the same size and bus protocol than the AX-12s. As I said once you do that you just need to adjust the motions because the AX-18s are much faster.
Regards
Pedro.
The information we have is that Robotis will _not_ be selling the Bioloid GP frames separatelly.
To make the upgrade you need the Frameset + 10 AX-18A servos.
(FYI the cost of the AX-18A servos itself (retail) is over 600 GBP).
On the Bioloid GP some frames are designed and assembled at different angles so if you want to get the AX-18 servos for your Bioloid, make sure to adjust the motions accordingly.
It is possible to add AX-18A to your Bioloid PREMIUM (or comprehensive) using the plastic Bioloid Frames since they are the same size and bus protocol than the AX-12s. As I said once you do that you just need to adjust the motions because the AX-18s are much faster.
Regards
Pedro.
by i-Bot
Wed May 04, 2011 10:46 am
Thx. Nunogato. Exactly what I wanted. Great sequence of photos.
It has answered my confusion in that the GP has 5 DOF in leg, unlike others which have 6. The extra 2 servos seem to be in the gripper which was the source of my confusion on the 18 servos total.
I guess it is possible to add the waist servo as an alternative to hip yaw.
Still with the AX18F it seems to perform really well with the different leg configuration.
It has answered my confusion in that the GP has 5 DOF in leg, unlike others which have 6. The extra 2 servos seem to be in the gripper which was the source of my confusion on the 18 servos total.
I guess it is possible to add the waist servo as an alternative to hip yaw.
Still with the AX18F it seems to perform really well with the different leg configuration.