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References

Router Setting​

  1. Router Reset
    To reset the router, press the front button for 10 seconds.
    Front button is “MODE CHANGE” button.

  • Orange LED : Router Mode

  • Green LED : Repeater Mode

  • Red LED : AP Mode

  1. Connect to Router

    • Default Wi-Fi Name:

      • 2.4G : dlink-806a-z
      • 5G : dlink-806a 5G-z

    • Administrator Account Setting:

      • Name : admin
      • Password : admin

  2. Change Language

  • Connect to Router via Wi-Fi or Wired.

  • Open the browser and connect to ‘192.168.1.1’. Insert Administrator Account Info.

  • Click “상세 설정”(Details).

  • Click Menu “도구”(Tools) > “관리자 설정”(Administrator).

  • Select Language “영어(English)” and click “APPLY” button.

  • Select “예” and click “APPLY” button. The language has been changed.

  1. Disable the IPTV Availability.
    In order to use Port 4, IPTV Availability should be disabled.To use Port 4 must disable IPTV Availability.

  • “Advanced” > “IPTV/IGMP”

  • “IPTV Availability” > Select “Disable” > Click “APPLY” button

  • Reboot the router.

LIDAR IP Setting​

Restart the sensor when the LED blinks, the IP setting will be completed.
The following table shows the network settings after the reset.

ItemDescription
IP192.168.0.10
Subnet255.255.255.0
Gateway address192.168.0.1
TCP/IP Port10940
  • Change the IP Setting

    1. Below is the screen shot of IP changer’s screen shot.

    2. Change the IP address and push “Update” button. (The “Update” button can be pushed only when the sensor is connected.)

System Block Diagram​

Technical Specifications​

  1. PC
  1. Actuators
  1. Sensors
  1. Batteries

ID Map​

Physical Properties​

bodyxyz
Ground-origin--807.5
origin-2700170.5
headxyz
27-2800229
28-290-4539
29-cam68.24556
29-lidar045106.75
29-decam68.94517
L_ArmxyzR_Armxyz
27-2015216027-10-152160
2-45760-391-357-60-39
4-6-5733-03-5-57-330
6-830187575-730-18757
8-1017130-577-9171-30-57
10-12390459-1139045
12-1445-45-4511-134545-45
14-3087.7-58.3013-3187.7-31.70
30-30_20-26.6031-31_20-26.60
L_LegxyzR_Legxyz
base-16093-18base-150-93-18
16-18570-7515-17570-75
18-20-5733017-19-57330
20-22060-30019-210-60-300
22-240-60-30021-23060-300
24-2657-33023-2557330
26-26_2-570-8725-25_2-570-87

Mass & Inertia​

Whole robot​

  • Mass = 41.6 kg

Body​

Right Arm​

Left Arm​

Right Leg​

Left Leg​

Joint & Angle Limit​

Head Joint​

IdNameRange(degrees)
28head_y(Z)-90 to 90
29head_p(Y)-60 to 87

Body Joint​

IdNameRange(degrees)
27torso_y(Z)-90 to 90
15r_leg_hip_y(Z)-90 to 40
16l_leg_hip_y(Z)-40 to 90

Right_Arm Joint​

IdNameRange(degrees)
1r_arm_sh_p1(Y)-150 to 150
3r_arm_sh_r(X)-90 to 90
5r_arm_sh_p2(Y)-120 to 30
7r_arm_el_y(Z)-90 to 45
9r_arm_sh_wr_r(X)-150 to 150
11r_arm_sh_wr_y(Z)-90 to 90
13r_arm_sh_wr_p(Y)-90 to 90

Left_Arm Joint​

IdNameRange(degrees)
2l_arm_sh_p1(Y)-150 to 150
4l_arm_sh_r(X)-90 to 90
6l_arm_sh_p2(Y)-30 to 120
8l_arm_el_y(Z)-45 to 90
10l_arm_sh_wr_r(X)-150 to 150
12l_arm_sh_wr_y(Z)-90 to 90
14l_arm_sh_wr_p(Y)-90 to 90

Right_Leg Joint​

IdNameRange(degrees)
17r_leg_hip_r(X)-30 to 45
19r_leg_hip_p(Y)-40 to 85
21r_leg_kn_p(Y)-166 to 30
23r_leg_an_p(Y)-85 to 40
25r_leg_an_r(X)-35 to 90

Left_Leg Joint​

IdNameRange(degrees)
18l_leg_hip_r(X)-45 to 30
20l_leg_hip_p(Y)-85 to 40
22l_leg_kn_p(Y)-30 to 166
24l_leg_an_p(Y)-40 to 85
26l_leg_an_r(X)-90 to 35
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