Jaemi Hubo (KHR4) Users Manual
Contents
1. SN il PAR E E l E RI 2 a MU Se ifs Lv 68c A 2 Head Computer Specifications 17 PCM 3370 LV Intel Pentiume PC 104 Plus CPU Module COMI Specifications PC 104 KB Mouse ATX Standby power Windows MIS Embedded General Features ULV Intel Celeron 400 650 MHz Fanless LV Pentium III 800 933 MHz Chipset VIAG VT8606 TwisterT and VT82C686B VGA LCD controller with optimized Shared Memory Architecture SMA 4x AGP VGA LCD amp LCD controller up to 1024 x 768 5 V and 12 V power supply required 10 100Mbps PCI Ethernet interface supports wake on LAN COM 5 V supports power line connected on pin 9 PC 104 and PC 104 Plus expansion connector Support for CompactFlash Card CFC Type Socket 1 6 sec interval Watchdog timer 1 SODIMM socket supports up to 512 MB SDRAM Mechanical and Environmental Dimension L x W 96 x 115 mm Weight 0 162 kg with heat sink Operating Temperature 0 60 C CPU 2nd Cache Memory System Chipset BIOS System Memory Power Management SSD Watchdog Timer Expansion Interface 1 0 1 0 Interface USB 1 0 Expansion Ethernet Chipset Speed Interface Display Chipset Onboard ULV Intel Celeron 400 650 MHz Fanless or LV Pentium 933 800 MHz optional 256 KB on ULV Celeron 512 KB on Pe2. Table 2 3 4 Digital I O Table 6 Bodv Computer Wireless Configuration SSID Frequencv Standard WPA2 Passkey IP Mask Gateway Domain HuNet 2 4Ghz 802 11n dasl1234 192 168 0 102 255 255 255 0 192 168 0 1 Hunet Table 7 Bodv Computer Wired Configuration Network HuNet Standard 10 100 IP Static 192 168 0 112 Mask 255 255 255 0 Gateway 192 168 0 1 Domain Hunet Table 8 Head Computer Wireless Configuration SSID Frequency Standard WPA2 Passkey IP Mask Gateway Domain HuNet 2 4Ghz 802 11n dasl1234 192 168 0 103 255 255 255 0 192 168 0 1 Hunet 10 Table 9 Head Computer Wired Configuration Network HuNet Standard 10 100 IP Static 192 168 0 113 Mask 255 255 255 0 Gateway 192 168 0 1 Domain Hunet 11 3 Timing 3 1 RIX 3 2 Body Computer 3 2 1 Hardware 3 2 2 Software 3 3 Head Computer 3 3 1 Hardware 3 3 2 Software 12 4 Sensors 41 IMU 4 2 Force Torque 4 3 Encoders 4 4 Current Sensing 5 Motor Drivers 6 How To 6 1 Upper Body Example Raise Arm 6 2 Lower Body Example Raise Leg 13 14 A 1 Hubo KHRA Dimensions 15 HUBO KHR 4 Rev 01 DWGNO sert ori Drexel Autonomous Systems Lab JAEMI HUBO DIMENSIONS 9 23 2009 INS 2 275 PLES gt Dues Wale Es i a fi ETT QE e INO 59 em pE eom Oy L
3. 1 0 I 0 Interface USB Audio GPIO Ethernet Chipset Speed Interface Display Chipset Memory Size Resolution 200 pin SODIMM socket supports DDR2 SDRAM to 128 256 512 1024Mb DDR2 533 400 SDRAM ACPI supported APM1 2 Supports CompactFlash Card Type 255 levels interval timer setup by software 104 pin 16 bit PC 104 module connector and 120 pin PCI PC 104 Plus module connector Lithium 3 V 196 mAH 1xEIDE 1 x RS 232 422 485 1 x RS232 1 x K B 1x Mouse 2 x SATA 6 x USB 2 0 Supports HD Audio stereo sound 8 bit general purpose 4 Input 4 Output Intel 82551ER 10 100Base T 1 x internal box header VIA CX700 Optimized Shared Memory Architecture supports 64 MB frame buffer using system memory CRT display Mode pixel resolution up to 1920 x 1440 x 32 bpp at 85 Hz 1600 x 1200 x 16 bpp at 100 Hz and up to 1024 x 768 x 32 bpp at 60 Hz for TFT LCD LCD Interface 24 48 bit LVDS interface Dual Independent Display CRT LVDS LVDS LVDS optional Features VIA Eden V4 400 600 MHz and ULV1 0 GHz processor VIA C7 2 0 GHz processor upports DDR2 memory upports 10 100 Base T Ethernet 48 bit TFT LCD LVDS interface upports one RS 232 one RS 232 422 485 and six USB 2 0 ports C 104 and PC 104 Plus expansion connector P Support audio function compliant with HD Support for CompactFlash card type Mechanical and Environmental Dimension L x W 96 mm x 1
4. 1000 V Power consumption 5 V 400 MA typical 950 mA max Connectors Dual DB 9 male connectors Operating temperature 32 to 122 F 0 to 50 C PC 104 form factor 3 6 x 3 8 90 mm x 96 mm Shipping weight 0 9 Ib 0 4 kg PC 104 and the PC 104 logo are trademarks of the PC 104 Consortium Features Operates 2 separate CAN networks at the same time High speed transmission up to 1 Mbps 16 MHz CAN controller frequency Takes a 4 KB address space 40 base address adjustable steps from C800H up to EFOOH e Optical isolation protection of 1000 V ensures System reliability Wide IRQ selection for each port includes IRQ 3 4 5 6 7 9 10 11 12 15 LED indicates Transmit Receive status on each port e Direct memory mapping enables speedy access to the CAN controllers G library and examples included Jumper amp Switch Locations CH 1 CH 1 ex 3t o CH 2 HEDA PCM 3680 REV A1 0 o Q 0 9 mh rs 2 0 o La wh gt 5 2 O Q Part no 2000368000 1st Edition Printed in Taiwan 1996
5. 15 mm Weight 0 162 kg with heat sink Operating Temperature 0 60 C 32 140 F Operating Humidity 0 90 relative humidity non condensing Power Power Supply Voltage AT ATX 5 V 596 12 V 5 Optional 5 V only 12 V optional for PC104 add on card and LCD inverter Typical 5 V 1 45 12 0 02 5 2 63 12 0 03 A Eden ULV1 0GHz with 512 RAM Power Consumption MAX Packing List 1 x PCM 3372 SBC 1 x Wire AT Power cable 1 x Audio cable 1 x Wire ATX power 1 X Two COM cable p n 1701200180 1 x RS 422 485 COM cable p n 1703040157 p n 1703080104 1 x Keyboard Mouse cable p n 1703060053 p n 1703100152 p n 1703200380 1 X V cable for KB MS extention p n 1700060202 1 x Ethernet RJ 45 Conn conversion cable p n 1701100202 1 x IDE cable p n 1701440350 1x VGA cable p n 1700000898 1 x USB cable bracket type with two USB ports p n 17000000897 1 x SATA cable p n 1700071000 1 x Startup manual 1 x CD ROM Manual Driver Utility III TOURIRET www advantech com products ADWNTECH All product specifications are subject to change without notice Last updated 7 Feb 2007 PCM 3372 Board Diagram 4 0 Qock Gen EDEN V4 9034 Strapping SW LVDS Channel m lt res 18 poo oos DORA MM XI 10 100 1000 LAN LVDS Transmitter DVO DVPI 961102 Intel 82551ER Connector jg V VT163
6. 3 MHz CPU eron 400 MHz CPU eron 650 MHz CPU um 111 933 MHz CPU 1xKB Mouse Y Cable p n 1700060202 1xY Cable external cable p n 1703060053 1xVGA Cable p n 1701160150 1xEthernet RJ 45 Conn conversion cable p n 1701100202 1xIDE Cable p n 1701440350 1x COM Port Cable p n 1700100250 1xLPT port cable p n 1700260250 1x Wire ATX Power p n 1703200380 1 x Startup manual 1x CD ROM Manual Driver Utility ITEN www advantech com products ADWNTECH All product specifications are subject to change without notice Last updated 20 Mar 2006 PCM 3370 Board Diagram Intel ULV LV Processor ll VIA SDRAM VT8606 SODIMM VGA Connector TTL Panel Connector IDE PC 104 connector COM VIA COM VT82C686B CF 000000C0500 C0C00000 C5000 00 LEIDCIDCUDEHOD ID CELO CH CEU GUCCI 220000062000000500006565000050 LAN Connector PC 104 connector mooomoooomococo mooomoooomoooco Ordering Information Part No ng Chipset CRT uvos TTL 10 100 YSP 232 422 485 LPT CF Kems PE 104 id PCM 3370F ROA1E a 256 KB Yes 36bt 2 2 Option
7. 6 Ke 0621 Frequencv Analog CRT PCI BUS SMBus PCI to ISA Bridge PC104 GPIO Ki PCA9554 IT888G Connector pe1920 LPC I l 1 EIDE Channel C15 d on board Fish SMSC3114 On board Flash PG13 1 2 m gt 2 SATA Port LPT 0625 PS 2 KB MS PG23 HW Monitoring pais Ordering Information Part No CPU Chipset L CRT TTL LVDS 10 100 USB2 0 85 232 pd LUND sara cF Audio 104 Thermal PCM 3372F JOAIE Win den V4 CX00 128KB ves 48 bit 1 6 1 1 Yes 2 Yes Passive 0 60 optional PCM 3372F MOA1E MU paan 4 128KB Yes 485 1 6 1 1 Yes 2 ves Yes Passive 0 60 optional POM 3372F SOATE VA Eden VA lcxoD t28KB ves 48 bit 1 6 1 1 Yes 2 Yes Ves Yes Passive 0 60 optional PCM 3372F UOATE VA 128KB Yes 48 bit 1 6 1 1 Yes 2 Yes ves Yes Passive 0 60 C optional AD ANTECH 4 CAN Card Specifications 23 PCM 3680 PC 104 Dual Port CAN Interface Module Jumper Setting The PCM 3680 is a special purpose communication card that brings the Control Area Network to your PC With the built in CAN controller the PCM 3680 provides bus arbitration and error detection with automatic transmission repea
8. Jaemi Hubo KHRA Users Manual Daniel M Lofaro October 7 2009 1 Overview Welcome to the Hubo KHRA reference manual Through out this manual vou will find information regarding the mechanical electrical and software operation of the Hubo KHRA svstem 1 1 Mechanical The Hubo KHRA has the following mechanical specifications Page 15 e 6 DOF Per Leg e 41 DOF Total e Aluminum Frame e High Gear Ratio Harmonic Drive Gear Boxes e Maxon Brushless DC Motors The gear ratios for the harmonic drive gear boxes can be found in Table 1 Table 1 Harmonic Drive Gear Ratios Joint Harmonic Drive No Hip Yaw SHD 17 100 1 Hip Roll SHD 20 160 1 Hip Pitch SHD 20 160 1 Knee SHD 20 160 1 Ankle Pitch SHD 17 100 1 Ankle Roll SHD 17 100 1 Trunk Yaw SHD 14 100 1 Please refer to Appendix A 1 for the dimensions of the Hubo HKRA 1 2 Electrical Hubo KHRA contains two primary x86 based computers denoted as the Head Computer and the Body Computer and multiple smart motor con trollers The Body Computer tells all of the motor controllers where to move Figure 1 Hubo KHRA Joint Direction via communication over two IMB s CAN Buses gathers sensor data from the Inertial Measurement Unit IMU and Force Torque FT sensors The Body Computer will then do all of the calculations to keep the Hubo KHR4 balanced properly 1 2 1 Main Computers Table 2 contains some of the specifications for the Hubo KHR4 Body Com
9. Yes Ves Yes Yes Active 10 60 PCM 3370F MOATE patel 256 KB 2 Yes 36bt 2 2 Option Yes 0 Yes Yes Passive 0 60 C PCM 3370F JOME ia 256 KB 2 Yes 36bt 2 2 Option Yes Ves Passive 0 60 PCM 33707 J0ME 256 KB a Yes 36bt 2 2 Option Yes Yes Yes Passive 20 80 C 337071 0 256 KB 2 Yes 36bt 2 2 Option Yes Ves Passive 30 70 C PCM 3370E ROATE 256 Yes 365 24001 2 2 Yes Yes Ves Active 10 60 PCM 3370E MOATE a 256 KB m Yes 36bit 2461 2 2 Option Yes Yes Yes Yes Passive 0 60 PCM 3370E JOME _ 256 KB Yes 36bit 2461 2 2 option Yes Yes Ves Yes Passive 0 60 Optional Accessories RS 422 485 cable p n 1703040257 12cm USB cable p n 1703100121 26cm USB cable p n 1703100261 ADMNTECH A 3 Body Computer Specifications 20 PCM 3372 Eden V4 CX700 PC 104 Plus CPU Module Inverter E 5 Inverter L LVDS E Power SEL LVDS I Power SEL PCI VIO Sel 00 SA1 RS 422 485 422 485 SEL RoHS A by Merosono EE M C FCC ego Specifications General CPU VIA Eden V4 processor for 400 600 MHz and ULV1 0 GHz VIA C7 2 0 GHz processor 2nd Cache Memory 128 KB on Processor System Chipset VIA CX700 BIOS AWARD 4 Mbit Flash BIOS System Memory Power Management SSD Watchdog Timer Expansion Interface Battery
10. ntium III VIA VT8606 TwiserT VT82C686B AWARD 256 KB Flash BIOS 1x SODIMM socket supports up to 512 MB SDRAM Supports Advanced Power Management Supports CompactFlash Card Type 1 6 sec interval Watchdog timer set up by software jumperless selection generates system reset or IRQ11 104 pin 16 bit PC 104 module connector and 120 pin PCI PC 104 Plus module connector 1x EIDE 1 x LPT 1 x RS 232 422 485 1 x RS232 1xK B 1 x Mouse 2 Universal Serial Bus 1 1 compliant ports Share with COM2 transfer rate up to 1 15 Mbps Support for 5 V FAN speed detect connector Heat Fan speed Realtek RTL8139D 10 100 Mbps 10 100Base T 1xRJ 45 VIA VT8606 4X AGP controller supporting CRT PCM 3370F 18 24 36 bit TTL interface PCM 3370E 18 24 bit TTL interface and 36 bit dual channel LVDS Operating Humidity Power 0 90 relative humidity non condensing Power Supply Voltage 5 V 2596 12 V 4596 Typical 2 43 A Q 5 V ULV Ce Power Consumption Packing List 1 3370 SBC Max 2 83 A Q 45 V ULV Ce 3 50 A 5 V LV Pent 0 02 A Q 12 V ULV C 0 02 A Q 12 V ULV C 0 02 A Q 12 V LV Pen 2 47 MC 5 V ULV Ce 2 97 5 V ULV Ce 3 99 A 5 V LV Penti 0 06 A Q 12 V ULV Celeron 400 MHz CPU 0 06 A 12 V ULV Celeron 650 MHz CPU 0 08 A 12 V LV Pentium III 933 MHz CPU eron 400 MHz CPU eron 650 MHz CPU ium III 933 MHz CPU eleron 400 MHz CPU eleron 650 MHz CPU tium III 93
11. odv Computer On Board Communication Number of Ports Port Tvpe Ix USB1 1 1X EIDE 1x LPT 1x RS 232 422 485 1x RS232 COM2 1x K B 1x Mouse 2x CAN internal connections 2 2 3 Wireless The Body Computer communicates with the Hubo network called HuNet via an 802 11n connection The wireless configuration for the Body Computer can be found in Table 6 2 2 4 Wired The Body Computer can be plugged directly in to a 10 100 network and accessed The Body Computer has a Static IP so it can be connected to via a network hub or directly via a crossover cable The connection information can be found in Table 7 2 2 5 Digital I O 2 3 Head Computer 2 3 1 RS232 2 3 2 Wireless 2 3 3 Wired The Head Computer can be plugged directly in to a 10 100 network and accessed The Head Computer has a Static IP so it can be connected to via Table 5 PCM 3680 Rev 1 PC 104 CAN Card Specifications Ports CAN controller CAN transceiver Signal support Memorv address IRQ Isolation voltage Power consumption Connectors Operating temperature PC 104 form factor Shipping weight 2 82C200 82C250 CAN L CAN H From C800H to EF00H 3 4 5 6 7 9 10 11 12 15 1000 VDC 5 400 mA typical 950 mA max Dual DB 9 male connectors 32 to 122 F 0 to 50 C 3 6 x 3 8 90 mm x 96 mm 0 9 Ib 0 4 kg a network hub or directly via a crossover cable The connection information can be found in
12. omputers talk to the Base Station Computer via a wireless 802 11n network connection 2 1 Base Station Computer The Base Station Computer connects to the Body and Head Computers via a Wireless 802 11n connection where the Base Station Computer is connected to the wireless router via a CAT 5e cable the Body and Head Computers are connected to the network via the 802 11n connection The Base Station Computer also acts as the network storage device for both the Body and Head Computers The Shared Documents folder on the Base Station Computer is setup as the Z drive on both the Body and Head Computers 2 2 Body Computer The Body Computer is the main computer for the Hubo KHRA This com puter communicates with all of the motor drivers via two 1 CAN Buses All of the lower body joints are located on one CAN Bus and all of the upper body joints are located on the other CAN Bus The Body Computer is a PCM 3370 PC 104 computer More information on the PCM 3370 can be found in Appendix of the communication methods available on the Body Computer can be found in Table 4 2 2 1 CAN Bus The CAN Bus is a PCM 3680 Rev A 1 PC 104 Dual Port CAN Interface Module Information regarding the PCM 3780 Rev A 1 CAN card can be found in Table 5 and in Appendix A 4 2 2 2 RS232 The Body Computer contains two serial ports COM1 and COM2 COMI and COM2 are by default both connected to the Head Computer through 7 Table 4 Hubo KHRA B
13. puter Further Specifications can be found in Appendix A 3 Table 2 Hubo Body Computer Specifications Name PCM 3370 CPU Pentium III 933MHz Cache 512Kb Chip Set Twister T VT82C686B BIOS AWARD 256kb Flash BIOS System Memory 512MB SDRAM Watchdog Timer 1 Expantion 104 pin PC 104 and 120 pin PCI PC 104 Plus Table 3 contains some of the specifications for the Hubo KHR4 Head Computer Further Specifications can be found in Appendix A 2 Table 3 Hubo HKR4 Head Computer Specifications Name PCM 3372 CPU Pentium III 1 0GHz Cache 128Kb Chip Set VIA CX700 BIOS AWARD 4Mbit Flash BIOS System Memory 1024Mb DD2533 Watchdog Timer 255 levels interval timer Expantion 104 pin PC 104 and 120 pin PCI PC 104 Plus 1 2 2 Motor Controllers The Hubo KHR4 motor controllers consists of three separate motor con trollers e Single Channel Motor Controller Driver e Dual Channel Motor Controller Driver e Five Channel Motor Controller Driver Each of the motor drivers have the same basic firmware on them and take the same basic command however the single channel controller only supports a single motor with quadrature encoder and is used only for the waste The dual channel supports two motors with quadrature encoders 2x200W and is used for all of the leg joints and some of the upper body joints The five channel supports five smaller motors each with a quadrature encoder which is used for the finge
14. rs on the right and left hands All of the motor controllers support current feedback 1 3 Software Hubo KHR4 s Body Computer and Head Computer both run full versions of Windows XP updated to Service Pack 2 WARNING Both systems must NOT be updated to Service Pack 3 for the time being due to the Wireless N drivers incompatibility with Service Pack 3 1 3 1 Body Computer The Body Computer s main operating system is Windows XP SP2 and the control is compiled using Visual Studios 6 VS6 and Real Time Extensions 6 5 6 5 by Ardence The system will be explained in greater detail in Section 3 1 The purpose of the Body Computer is to give Hubo KHRA a dedicated environment for its balancing controller The Body Computer does not have any NET framework installed 1 3 2 Head Computer The Head Computer s main operating system is Windows XP SP2 The NET framework 3 5 is currently installed The purpose of this is so users 5 programing with Microsoft s Visual Studio 2008 can easily upload custom software The purpose of the Head Computer is to allow users to add human in teraction without risking damaging the stability controller ie the Body Computer 2 Communication The Hubo KHRA has multiple communication methods In short the Body Computer communicates with the motor drivers via two IMbps CAN Bus networks The Body Computer can talk to the Head Computer via a serial RS232 level signal Both of the Body and Head C
15. t function This drastically avoids data loss and ensures system reliability The on board CAN controllers are located at different positions in the memory You can run both CAN controllers at the same time independently The PCM 3680 operates at baud rates up to 1 Mbps and can be installed directly into the expansion slot of your PC Control Area Network The CAN Control Area Network is a serial bus system especially suited for networking intelligent O devices as well as sensors and actuators within a machine or plant Characterized by its multi master protocol real time capability error correction high noise immunity and the existence of many different silicon components the CAN serial bus system originally developed by Bosch for use in automobiles is increasingly being used in industrial automation Direct Memory Mapping The PCM 3680 is assigned with memory address which allows direct access to the CAN controller This is the simplest and fastest way of programming any board in a PC because the board is regarded as standard RAM Optical Isolation Protection On board optical isolators protect your PC and equipment against damage from ground loops increasing system reliability in harsh environments Specifications Ports 2 CAN controller 82C200 CAN transceiver 82C250 Signal support CAN L CAN H Memory address From C800H to IRQ 3 4 5 6 7 9 10 11 12 15 e Isolation voltage
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