Robot Fight, "The 2nd U1K, Under 1 Kg" sponsored by RT Co., Ltd. was carried out at RT Office in Akihabara, Tokyo on Oct. 24th, 2009. While the ROBO-ONE humanoids have set the standard under 3 kg at the 15th Championship on May 4th, 2009. Some hobbyist just don’t have the space, resources, or budget to get actively into building large robots. To expand the playing field, RT Co., Ltd. planed an Under 1 Kg biped robot competition.
The regulation of the biped robot body were as follows;
Weight: under 1 kg (including battery), Height: under 60 cm, Total axis: more than 15 ( arm with 6 servos, foot with 8 servos ), Sole size of foot: under 12 cm, Max wide length: under 60 cm, Robot control: wire, radio, IR control or autonomous.
The rule of the game were as follows; Field size: 90 cm square board, robot got 3 downs within 3 minutes was winner, robot gone down from the field was loser, robot could not stand up within ten counts was loser.
Eleven robots attended the competition. As marketed robots, G-ROBOT , JO-ZERO , Robovie-nano are fitting the body regulation, based 2 G-ROBOTs, 3 JO-ZEROs and 3 Robovie-nanoes joined the competition.
The winner was Soga, original robot developed for throwing fight using small size servo by Mr. Igaa who also developed `Saga`. The 2nd Place was Pixie based G-ROBOT by Emanon. The third place was Dampthi-kai.
As the special prize for the weakest robot was JO-ZERO original parts, the tournament for the weakest robot was also carried out. Shakashaka-NANO got the prize.
The video are as follows:
The 1st stage, 4 maches were JOZERO-S vs Pixie, Keinsenyou-ROBO, Danputhi-kai vs ShakaShaka-NANO, Torajiro vs Soga. Winners were Pixie, Keinsenyou-ROBO, Danputhi-kai and Soga.
The 2nd stage, 3 maches were Pixie vs Ikadesu-Uing, Keinsenyou-ROBO vs Shunran, Danputhi-kai vs Shibutsu-3gou. Winners were Pixie, Shunran, Danputhi-kai.
The semifinal, 2 maches were Pixie vs Shunran, Danputhi-kai vs Soga. Winners were Pixie and Soga.
The tournament for the weakest robot, 3 maches were JOZERO-S vs Ikades-Uing, Shinchan vs ShakaShaka-NANO, Shibutsu-3gou vs Torajiro. Three losers had a ramble fight for the weakest robot. The weakest robot was ShakaShaka-NANO.
For the third place match was Shunran vs Dampthi-kai. The 3rd Place was Dampthi-kai.
The final match was Pixie vs Soga. The winner was Soga by Igaa. The 2nd Place was Pixie by Emanon.
The ramble fight was carried out with all robots joined. The winner was also Soga by Igaa.
BestTechnology CO., LTD put FREEDOM jr.Ⅲ , a new humanoid robot kit on the market on Oct 15th, 2009. The characteristics of the new kit are as follows:
1) Actuator
The humanoid robot which adopts simple axial constitution. In each joint, 16 of >
Dynamixel AX-12+ which adopts serial I/F uses. Daisy chain connection make simple wire connection. Equipping system check and processing function such as internal temperature, applied voltage and torque.
2) Sensors in the head
Equipping AX-S1 which builds in the infrared ray sensor, microphone and speaker in the head. Measuring the distance brightness of 3 directions on the front, left and right. Measuring volume of the sound, count of the clap sound and the time which measured the sound. Playback of designated possible buzzer sound with musical interval length. Infrared ray communication, internal temperature and applied voltage measurement.
3) Controller: FDIII-HC
Adopting the exclusive newly designed controller which covers all the Dynamixel series servo and can be used general-purpose. Controlling through USB (wire) and Bluetooth (the radio), state detection by the 3 accelerating sensor, motion data management with a microSD card, power supply voltage monitor and melody playback by the buzzer are equipped as the standard functions.
4) Software: GCC Developer Lite
The software does consistently from programming with C language to the program download to the robot and the communication with the robot.
5) Common motions
As the motion data is relative value from home position (upright posture), the motion data which is retained in the SD card, reproducible even with the other robot. In the case of the parts exchange of the robot, if the home position is corrected, the motion data can be used just like that.
6) Development of the original robot
As the communication protocol of the Dynamixel series is common, the kit robot can change to the higher specifications robot by using the actuator upgraded without the substantial modification of the program.
7) Walking
Robot can walk with changing the step on front, back, left and right, walking period, waist position and leg lifting quantity etc., by walking routine based reverse kinematics. It is possible to Walk on front, back, left and right without the break.
8) Wireless control
The control board loads Bluetooth module as standard. PC loaded Bluetooth (or Bluetooth was increased) can download of program and communicate to robot which put program in practice. Wireless Controller (option in the case of Basic kit ) can control the robot with wireless.
9) C language programming
Using C language programming for development. As API for FREEDOM jr.III (order and function etc) is offered, user can devote to only coding the processing which he would like to do the robot without programming the communication with the actuator and the playback processing of motion personally. Using only the foundation of C language programming, seamless walking, plural motion simultaneous playbacks and background task etc., are feasible. There is the sample program.
9) Robot assembled
As the robot is assembled, the time to introduction is short. There is no worry of the trouble with assembly mistake. As the adjustment of home position and download of the sample program have done beforehand, operation verification is possible immediately.
10) suitable user
FREEDOM ji.III, is more suitable for robot builder who is interested in the C language programming but do not have enough ability, who would like to learn about function needed in the multi axial robots, who would like to make application using feedback of the outside, who would like to verify with small-sized ones and to actualize sooner or later of expansion and enlargement utilization.
Degree of freedom: 16 axes (leg section: 10, arm: 6)
Sensor: AX-S1: Infrared ray reflected sensor and sound sensor
AX-12+: Position detection and torque detection, voltage monitor
FDIII-HC: 3 axial acceleration, voltage monitor
Power source: AC adapter 12V 5Ah and LiPo 11.1V 1000mAh
Communication between PC: The serial communication with USB or Bluetooth
Size: Height 351.5× width 165.6× depth 100 [mm]
Weight: 1.25kg
In addition I/F: Push switch, DIP switch, buzzer, LED and microSD
Development tool: GCC Developer Lite
Main Part List ( Basic kit)
FREEDOM Jr.III itself
Dynamixel AX-12+ :16
Dynamixel AX-S1:1
Dynamixel cable:17
FDIII-HC:1
microSD card:1
In addition:USB cable, AC adapter (FREEDOM and charger combined use) and Power source cable extension
I have been enjoying biped robot since 2004, when KHR-1 was put on the market, and collecting information of hobby robots. I would like to upload information about hobby robots in Japan for the hobbyists of biped robot all over the world. As my ability for uploading is limitted, I will introduce just news of product, kit or parts and information of competition etc. with picutures or videos.
The regulation of the biped robot body were as follows;
