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  Open Platform Humanoid Project
DARwIn-OP (Dynamic Anthropomorphic Robot with Intelligence–Open Platform)
is an affordable, miniature-humanoid-robot platform with advanced computational
power, sophisticated sensors, high payload capacity, and dynamic motion ability
to enable many exciting research and education activities.
Standard PC-based Robot with Convenient Interfaces
High Performance and Advanced Features
- Default walking speed: 24.0 cm/sec (9.44 in/sec) 0.25 sec/step - user modifiable gait
- Default standing up time from ground: 2.8 sec (from facing down) and 3.9 sec (from facing up) - user modifiable speed
- Built-in PC: 1.6 GHz Intel Atom Z530 on-board 4GB flash SSD
- Management controller (CM-730): ARM CortexM3 STM32F103RE 72MHz
- 20 actuator modules (6 DOF leg x2+ 3 DOF arm x2 + 2 DOF neck)
- Actuators with durable metallic gears (DYNAMIXEL MX-28)
- Self-maintenance kit (easy to follow steps and instructions)
- Standby mode for low power consumption
- 3Mbps high-speed Dynamixel bus for joint control
- Battery (30 minutes of operations), charger, and external power adapter
   (Battery can be removed from robot without shutting down by plugging in external power before removal)
- Versatile functionality (can accept legacy, current, and future peripherals)
- 3-axis gyro, 3-axis accelerometer, button x3, detection microphone x2
>> For up-to-date information, check e-Manual(http://support.robotis.com)
Efficient and Versatile Modular Configuration
Simple and Clean Architecture
Open Platform (Hardware and Software)
- Mechanics Information
  (Dimensions, Kinematics, Dynamics, CAD data)

- Electronics Information
  (Controllers, Sub B/Ds, Schematics, Part Information)

- Software Information
  (Development Environment, Framework, Source Code)

- Management Information
  (Detailed Assembly Diagrams, User Manintenance Guide)

- Community Resources
  (User-developed Code, Various Application Examples)
Dimensions and Weight
- Specialized robot all-in-one actuator for robotic applications
- High speed bus and simple wiring
- Various models, mechanical links, and accessories
  - Maxon RE-Max customized DC motor
- 193:1 reduction ratio
- Up to 3 Mbps buffered TTL interface
- User programmable PID Gain
- Up to 4096 resolution magnetic potentiometer

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