User manual

I. WiRobot X80 Overview

WiRobot is an integrated electronic and software robotic system extended from Dr Robot’s

comprehensive humanoid robot. Each WiRobot development system is designed to provide a user-

friendly programming environment for hobbyists, students and researchers to develop their advanced

robot programs and applications at an affordable cost. The X80 development system includes the

respective mechanical structure, electronic modules as well as the software development kit (SDK).

The mechanical structure is already pre-built and the electronic system is setup with a Multimedia

Controller (PMB5010), a Sensing-Motion Controller (PMS5005) and various peripheral electronic

modules. The software component will be installed on a PC and is responsible to establish a wireless

connection and exchange data with the robot. User can develop their own applications in VC++ or VB

using the APIs offered in “WiRobot SDK ActiveX Module” which accesses the sensor information,

sends control command and configures the system setting.

This ready to use mobile robot platform is designed for researchers developing advanced robot

applications such as remote monitoring, telepresence and autonomous navigation/patrol.

Mechanics

The X80 is the result of extensive efforts to develop a robot that would be fast and strong,

while itself remaining lightweight and nimble. The wheel-based platform’s two 12V DC motors

each supply 300 oz.-inches of torque to the X80’s 18 cm (7 in.) wheels, yielding a top speed

in excess of 1 m/s (3.3 ft/s). Two high-resolution (1200 count per wheel cycle) quadrature

encoders mounted on each wheel provide high-precision measurement and control of wheel

movement. Weighing only 3.5 kg (7.7 lb.), the system is light, but it can carry an additional

payload of 10 kg (22 lb.).

Sensors

X80 offers full WiFi (802.11b) wireless, multimedia, sensing and motion capabilities and

comes with a wide range of sensor, camera, and audio modules, sufficient to serve in any

variety of applications. The X80 offers broad expandability as well for projects that may

require additional sensors, even specialized modules. Powered by separate RC servo motors,

the integrated camera head can pan and tilt independently.

Architecture

The X80’s underlying technology evolved from Dr Robot’s Distributed Computation Robotic

Architecture, originally developed for Dr Robot’s Humanoid (HR) Robot. Using this approach,

high-level control of the robot is maintained by a remote or local PC/server communicating by

a secure wireless link. Low-level functionality is managed by an onboard digital signal

processor (DSP) while computationally intensive operations are performed offboard. The

result is a robot that’s lighter, draws less power, runs longer and is dramatically less expensive

than a fully bundled or self-contained system. Moreover, since primary processing resides in a

server, any hardware upgrades to the central unit are shared by all the robots it controls.

With its integrated high bandwidth (11Mbps) WiFi 802.11 wireless module, the system can

upload all sensor data (including encoder sensor readings) to a PC or server at rates in excess

of 10Hz. Similarly, streaming audio (8Hz x 8bits) and video (up to 4 fps) either for direct

monitoring or for processing by high-level AI schemes is a snap. Commands and instructions

sent to the X80 via the same wireless link also pass at rates exceeding 10Hz, providing real-

time control and access.