16. 制御回路
人工知能
認識
行動決定
運動制御
20個のコンピュータが協調分散制御
Servo motors x 18
RS485
Transceiver
CPU
Renesas
SH2A/7211
RS232C
Transceiver
EEPROM
AT24C1024
1MBit
SDRAM
8MByte
(16Bit)
Circuit for
Walking Control
A/D
Converter
Gyro Sensor x 2
Sparkfun IMU5
Gyro Sensor
Silicon Sensing System
(Yaw Axis)
Circuit for Main Process
(Ex. Image Recognition, Strategy,…)
RS485
460.8kbps
CommandStatus Data
SCIF1
SCIF2,3
1ch2ch
1000Mbps
Ethernet
Futaba
RS405CB
RS232C 115200bps
CPU
COMMELL
LP170C
Atom D525
OS: Windows
DRAM
2GB
USB
USB-Serial
Converter
USB Camera
Wirelss LAN
IEEE802.11
a/b/g
Shikino
Hightech
Acceleration
Sensor
ADXL330
Mini
PCI
25. ロボットの仕様
Table 1 Specification of the Robot
Weight 3.9 kg (Including Batteries)
Height 590 mm
Velocity
(Forward)
0.4 m/s (maximum)
Walking
Directions
All direction and rotation
(Select the angle, stride, period and so on)
CPU Board
Axiomtek PICO820 (Intel Atom Z530 1.6GHz)
Sub: Hajime Robot HC5 (Renesas SH-2A/7211)
OS Windows XP Professional
Interface
Ether x 1, USB x 4,
CF x 1, RS232C x 2, Sound In/Out , Digital I/O, etc
Servo Motor Futaba RS405CB x 18
Battery 3S (11.1V, 5000mAh )