Thanks for your reply. I just want to clear some further doubts.
1 - You have mentioned the speed of 34 RPM. However, in the datasheet, it is mentioned that the max. angular velocity is 114 RPM. How different or same is it? We are a bunch of electrical and communications engineering students and we don’t have a solid mechanical background.
2 - I am glad to hear that we can interface a voice recognition system with the bioloid robot. However, what sort of protocol does Bioloid use for communication (RS232 or something else) and is it used at the Dynamixel as well? Is the serial port an addressable IO port to the processor in the CM-5? I have seen that sometimes serial ports connecting to PCs are not addressable by the microcontroller/processor itself.
As I mentioned in my previous posts that I would like to control Bioloid Robot from the voice recognition hardware instead of PC. Could I get more information on how to control the Bioloid Robot from the Zigbee controller? What type of commands does PC send to control the robot? Is there any manual or document which provides this information?
I am thinking to put one zigbee controller on the voice system and the other on the Robot. So I can send the commands from the voice system instead of PC.
1- The AX-12+ servo actuators do 0.196 sec/60° at 10V which is 34.2 RPM. Knowing the stock wheel diameter is 5cm we can determine the distance traveled per second by using the formula Velocity = circumference * rpm.
The wheel diameter can however be increased or decreased to change the velocity not to mention commanding the dynamixel to turn more slowly.
2- Yes voice recognition is possible, interface the voice recognition hardware with a logic controller capable of accepting input from the voice recognition system and outputing commands for the Bioloid.
3- You should be able to use many third party sensors with Bioloid. There are interface modules out there to simplify things. There is however a lack of sensor addon capabilities for the Bioloid. Further research would be required to determine what sensors in specific you require and how to interface them individually. Although Bioloid is not the most hacker friendly platform, it makes up for it by allowing alot of versitility and construction options.
4- Start here perhaps with this C# API; Google is your friend in this case since many APIs are available: ohloh.net/p/bioloidapi
5- As long as the products are shipped to the school, yes a student discount can be applied.
6- The Bioloid Expert kit contains more parts, motors, 2 controllers, a camera system, wireless telemetry modules, etc. then the Bioloid Comprehensive kit and is shipped in a metal case. The package contents are not the same, which is why the prices are different. You may view details in the “What’s included” tabs of each product for specifics.
7- Some information can be found on the Robotis website: robotis.com/zbxe/32438
Beyond we would need to ask the manufacturer as no documentation seems to describe this data in specific. You can expect around 200-300 feet range LOS and OK quality video. This is not an High Definition/High Framerate system
Hardware voice recognition on the Bioloid is not something we have done and we have not come across this online. Hardware voice recognition on the Robonova-I is a whole different story. If you decide to approach this on the Bioloid you will have to experiment.
The Zigbee modules are basically a serial cable replacement. The software sends the commands wirelessly instead on via the programming cable.
The problem with what you are planning is that the voice recognition hardware does not know the format of data the Bioloid is expecting. once again, Bioloid is not the best hackable robot out there, especially for beginners.
The wheels can rotate at 114rpm according to page 17 in the AX-12+ manual (note too that there are other servo motors available). Note that the rpm varies with input voltage as well (faster with higher voltage). Another equation you can use is V (at the center of the wheel) = w*R where w is the angular velocity in radians per second and R is the radius of the wheel.
The microcontroller that comes with the Robotis Bioloid does not include a standard connector (it’s more like a 3.5mm audio connector). You can try to use third party sensors, though connections would not be straightforward (there is only one output). As Jon indicated, anything can be hacked, but not easily. Regarding the serial port being adressable, I have not seen any information to indicate that it is or isn’t, though. Take a look at the manual. Note that if you can connect a wireless module, it probably is accessible.
For voice control, you may want to make your lives easier and use Xbee wireless; all the processing and voice recognition would be done by the computer and commands sent wirelessly to the robot (the Boiloid can do this easily).
We understand your desire to have the robot “self-contained” (without the need for an external computer etc.) and voice activated. The difficulty with the Bioloid is that this would not be easy. Bioloid has launched a new CM-510 microcontroller, allowing customers to more easily interface with sensors, and includes zigbee wireless control. However, looking at the module, it too is not easily hacked and there is no RS-232 port available.
To use the zigbee for wireless control, you would need to interface with it from your computer (Zigbee Serial COM port is easiest) and create custom code for the voice recognition and analysis (or use an existing program). You would then determine the corresponding servo positions and send them via the Zigbee, which is then interpreted by the Boiloid microcontroller. You would need to search online to see if any other users have created this custom code, as it does not come standard with any of the kits.
Hope this helps.
Note that if you are looking to make a voice activated humanoid robot, and have everything processed onboard, the Bioloid is not the best choice. Take a look at the other humanoid robots available.
