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               DESIGN AND CONFIGURATION    OF SDR-4X11

                  Figure  1 shows the appearance and basic specifications  of SDR-4XII. SDR-4XI1 is 58 [cm] tall and
               weights 7.0 [kg], and has 28 DOF in its major joints. Each leg has 6 DOF, the trunk has 2 DOF, each arm
               has 5 DOF and the neck has 4 DOF. In addition, 5 fingers  are attached to each hand.
                  SDR-4X1I  adopts the  OPEN-R  system  as its control  architecture  which has  scalability  not  only  in
               software but also in hardware, and adopts the proprietary operating system Aperios which is suitable  for
               real-time control  (Fujita  1997).

                                           CPU                    64 bit RISC Processor ( x 3)
                                           Memory                 64MB DRAM { x 3)
                                           Operating Sys. & Architecture  Aperios & OPEN-R
                                           Robot Control Supplying Media  Memory  Stick
                                           Input/Output           PC Card Slot (Type II)/MS Slot
                                           Image Input (color/stereo)  110,000 pixels CCD
                                           Sound  Input/output    7  Microphones/Speaker
                                           Walking  Speed         6m/min. max (unleveled surface)
                                           Weight (including battery)  Approximately 7Kg
                                          Dimensions  (height/width/depth)  Approximately  580/270/190mm
                              Figure  1: Appearance and basic specifications  of SDR-4XII


               DEVELOPMENT   OF THE ROBOTIC ACTUATOR ISA-4

                  For  the  development  of  SDR-4XII,  we  developed  3 types  of robotic  actuators  ISA-4  (Intelligent
                           th
               Servo Actuator 4  prototype) which consist  of a motor  with electrical  circuits  and  a precise gear  unit.
               Figure 2 shows their appearances. ISA-4MH is used  for the body parts which need high-power  output
               such as knee joints, 1SA-4S  is used  for the parts which need high angular velocity but not high power
               output  such  as arm  joints, and ISA-4M  is  for  general use.  The  actuators  are  applied  to the 22  driving
               joints  except joints  in  the head,  wrists,  and  fingers,  and  contribute  to  the  robot's  motion  control  and
               safety  operation.  In  this  chapter  we  describe  the  control  mechanism  and  functions  of  ISA-4  (Iribe
               2004-1).








                                          ISA-4MH                                Power
                                                                                 Module
                                       ISA-4M               Control'         Communication
                                                            Module           Module

                   Figure 2: Robotic Actuator "ISA-4"      Figure 3: Construction  of ISA-4
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