Robotis BIOLOID GP User manual

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without prior consent or written permission from the publisher.
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2
Bioloid GP features
Attention
⑦ Remote control included (with Zigbee built-in)
① Implementation of Dynamixel AX-18F for superior performance
② Application of high-strength and lightweight aluminum frames
④ Preloaded humanoid combat, soccer, and a variety of motions
⑥ Gripper set with sensors for missions
⑤ Posture correction with gyroscope sensor
③ Change of direction while walking at high speeds
Exercise safety when using this product,
Robotis is not responsible for any accidents due to user negligence.
Please read the instructions carefully before getting started.
This product may not be suitable for children aged below 15.
Do not use any other tools other than the ones provided with the kit.
Face the robot away from you during operations.
Do not place your ngers at the robot’s joints.
Do not operate robot near water or direct sunlight.
Do not take apart nor customize the parts.
Use only the battery and battery charger included in the kit.
Replace gears after long or excessive use.
⑧ Includes upgradeability with software programming (RoboPlus)
⑨ Digital packet control and daisy chain for simplied wiring
2

3
Table of Contents
12
31
4
5
6
9
10
1. Components and features
2. Assembly
3. Robot action
4. Participation in robot competition
5. troubleshooting
6. Assembly manual
7. Part list
For more information or tutorials go to http://support.robotis.com

4
6
5
USB2Dynamixel
-RS-232, TTL, RS-485 standards
Serial cable
-robot program downloads
RoboPlus
-robot programming software
CM-510
- Dedicated robot controller
- Sensor ports : 6
- Dynamixel ports: 5
- Sound sensor, buzzer, and
protective fuse installed.
Remote control (RC-100)
- Dedicated remote control
- Upgradeable with Zigbee
1
2
3
9
10
11
12
8
1. Bioloid GP Components and Features
AX-12+ : 8 units
- Networked, robot-dedicated servos
- Versatile, expandable structure
- Torque : 15kgf·cm(at 12V)
- Motion range : 300 degrees
- 360-degree rotation (for wheels)
Gyroscope sensor
- Angular velocity detection(2-axis)
- Posture correction during walk
3PCP1MVT
RoboPlus CD
SMPS and charger
- Input voltage : 100~240V
Battery pack
- Li polymer(11.1V,1000mAh)
4
AX-18F : 10 units
- Networked, robot-dedicated servos
- Versatile, expandable structure
- Torque : 18kgf·cm(at 12V)
- Motion range : 300 degrees
- 360-degree rotation (for wheels)
ZIG-110 set
- Non-interference signal control
Multiple-robot simultaneous
control (well-suited for robot
competition)
7
Aluminum frames
- Optimized for humanoids
4

5
Try to make the best performance robot
with Bioloid GP
Gyro sensor for position control
High performance
Dyanmixel AX-18F
LED
Ultra lighted high strength
aluminum frame
Remote Control
Zigbee Module
Precautions (For more information refer to the website or video in the manual)
(1) Convenient AX-12+/AX-18F
nut insertion method
(2) Align horn position before assembling
Please follow the assembly manual
during assembly.
Assembling the robot
2. Assembly
- Weight : 1.6kg, Height : 35cm

6
(2) Check the robot’s basic posture (this check veries proper assembly)
(1) Turning the robot on
The robot assumes the position illustrated in the picture below when turned on.
If the robot does not assume the posture below please refer to page 10.
3. Robot Action
② Press MODE
to select PLAY
MODE
③ press START
START
① Power ON
If the LED does not turn on check the power cable or connection.
Ensure the battery pack is properly charged (refer to p.8 (4) fo9r more information)
Check the angles the arms
and legs.
If different from the illustration
go to page 8.
Check if the cables are connected
on the robot’s outer legs.
If the robot has been assembled
in a way that can be damaged
the system activates a warning
sound.
The LED of motor(s) with
problems will also blink.
When it happens the releases
its torque to zero to prevent
further damage.
① Turn the power switch on and the LED will start blinking.
② Press MODE until the PLAY LED starts blinking.
③ Press START (ensure PLAY’s LED is blinking).
MODE
START
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7
(3) Robot Action
U
D
U
U
R
D
L
①
Hold the button for 2 seconds to power on.
② The following buttons control the robot.
③ Walking(soccer/combat)
: Forward
U
D
L
R
U
1
PO
WER/MODE
3
4
2
buttons are as follows.
Soccer Mode
Combat Mode
RC-100 Operations
For more information and tutorials refer to the homepage.
If the robot does not respond to remote commands please refer to page 10.
POWER/MODE
U
+
L
: Forward left
U
R
+: Forward right
U+6: Fast Forward
: Backwards
D
L
: Left turn
L
+
5
: Left sidestep
L
+
5
: Fast left sidestep
+
6
L
+
5
U
+: Left frontal diagonal step
L
+
5
+
D
: Left dorsal diagonal step
: Right turn
+
5
: Right sidestep
R
+
5
: Fast right sidestep
+
6
R
+5
U
+: Right frontal diagonal step
R
+
5
+
D
: Right dorsal diagonal step
R
R
Soccer mode
Walks by default and follows the buttons illustrated below.
The remote control (RC-100) controls the robot.
2
U
D
L
R
: forward kick
: backwards kick
: left kick
: right kick
L leg +
4
U
D
L
R
: forward kick
: backwards kick
: left kick
: right kick
R leg +
D
U
5
6

8
(4) Charging
CM-510
SMPS
Connecting the SMPS directly provides
External power to the robot.
The charger and robot cables are
connected.
to charger
to charger
Walks by default and follows the buttons illustrated below.
D
Combat Mode
① Remove battery pack ② Connect to charger ③ Charge
During robot operation when the battery beeps charge the battery pack immediately.
The LED turns on red during charging; switches to green after completion.
SMPS
charger
charging
(red LED on)
complete
(green LED on)
2
U
L
R
: forward attack
: left attack
: right attack
knock +
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9
3PCP1MVT
4. Participation in robot competition
RoboPlus robot programming software for motion creation and robot control.
(CD included)
(for more information and tutorials visit the homepage)
For programming guidelines refer to the included tutorials.
RoboPlus CD
Already existing interests,
contest participation and
registration
Competitions
Programming
Contest rules and tuning
compliance
Rules
Competition-related
congurations and
algorithm updates.
Motion and algorith generation
Conference exhibitions
Conference exhibitions

10
(1) Assembly
(2) Remote Control
5. Troubleshooting
The remote control does not work properly.
Check the assembly manuals for proper Zigbee connections and settings.
The remote control shows a red LED when Zigbee is disconnected.
Ensure the remote control is powered on. If power does not turn on replace the batteries.
Operating the robot around with many people in its vicinity may cause radio interference.
Torque is released and Dynamixel’s LED turn on after a warning beep.
The robot activates a warning beep whenever an actuator or frames have not been
properly assembled, or if the actuator cannot properly move.
Locate the actuator(s) with the LED on and refer to the assembly manuals for proper assembly.
Ensure that cables are not stuck between joints.
Robot’s motions are abnormal.
Abnormal basic posture
Check the assembly of each joint.
Robot falls during walk and gait is unstable.
The gyroscope sensor is not properly connected.
Ensure the gyroscope sensor is properly connected.
Do not change the gyroscope cable orientation (refer to Step 18(p.23)).
(3) Power
Robot does not power on.
Is the battery pack properly connected?
Is the battery pack fully charged?
Does the fuse needs to replaced?
Please refer to the homepage for fuse replacement.
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11
For more information refer to Robotis homepage or contact us.
Battery pack power level check.
Turn the CM-510 on then press . The LED’s turn on and show the amount of battery power.
The robot beeps continuously while in motion.
Battery power is very low. Recharge the battery pack immediately (refer to page 8).
If the robot continues operation under very low power then the robot can suddenly
shut down potentially damaging the robot from a fall.
User Guide
Product Category User Guide
Class B equipment
(residential)
This unit is for residential purpose (class B) complies with all
electromagnetic compatibility regulations and may be used anywhere.
Company : Robotis
homepage : www.robotis.com
E-MAIL : [email protected]
Address :
#1506 Ace High-end Tower No. 3, 371-50 Gasan-dong Geumcheon-gu Seoul Korea 153-787
Telephone : [phone]
Fascimile : 070-8230-1336
U
U
R
D
L
nearly empty half full
① Power ON
U
② press
③ battery check

6. Assembly Manual

13

14
1. Prepare parts 2. Fasten screws with the horn
(WB M2X06)
3. Insert WA between the frame
and motor
4. Insert WA into BU 5. Attach to the back side of motor
Dynamixel(AX series) is attached with hinge frame now
6. Fasten screws(WB M3X12)
1
2
Tip
Tip
Dynamixel AX series hinge attachment procedure. Begin with WA.
Loctite can help reinforce screw tightening
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15
STEP 1
STEP 2
1-1 1-2 1-3
2 3
45 6
Robot
bottom side
Robot
upper side
Robot
upper side
BIOLOID GP Assembly Start
Robot
bottom side
Insert nuts ID1 and ID2 of AX-12+.
Connect ID1 and ID2 with CABLE-10, then attach them to chest F(FR04-E120)
frame, and then, attach them again to chestB(FR04-E150).
( Do not misalign horn position during attachment)

16
STEP 3
STEP 4
12-1
3-1
Attach chest frame and FR04-H102 frame together.( do not misalign horn position)
Insert nut to ID3 and ID4 of AX-12+; afterwards attach them to FR04-SC101 frame.
Insert nuts to ID5 and ID6 of AX-12+.
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17
STEP 5
STEP 6
2
1
Attach ID3 to ID5 and ID4 to ID6.
Attach screw to FR04-E180(hand frame), then attach them (FR04-H102) hinge frame.

18
STEP 7
STEP 8
Robot
Frontsid
Robot
Backside Fasten front-sided 2 bolts only
Attach hand to arm, then attach to body frame.
( refer to tip 1, hand and horn orientation)
Attach gyroscope board and FR04-E191 bracket to FR04-E131 back frame.
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19
STEP 9
STEP 10
1
Attach foor frame and FR04-H101 frame together.
Insert nuts to ID15 and ID16 of AX-18F; insert N2 nuts to F7.
Afterward attach F7 to DYNAMIXEL.

20
STEP 11
STEP 12
1
Insert nuts to ID 17 and ID18 of AX-18F, then attach to FR04-X101 cross frame.
Attach foot to DYNAMIXEL then attach to ankle.
20