Wednesday, March 23, 2011

[Robot Parts] Main Control Boards


VSRC003 is a control board used for all the KTX series, R3, Tichno, and ...etc... to control servo motors and manage sensor devices.  By using RobovieMaker2 software, you can create your own motions and change preferences for your robot.  More information here >> 


VS-WRC103LV is a control board used for Beauto Rover.  It has an arm micro controller "LPC1343" from NXP and it supports c programming environment LPCXpresso.  More information here >>

[Beauto Rover] Great Educational Robot ~ Ready for you to have it in your class room~

Coming Soon!
Beauto Rover ARM is a educational robot equiped with ARM microprocessor, ideal for embedded programming learning material for high school and college students.
Also this is best product for adults who wants to learn embedded world for their home project.


 Beauto Rover can be programmed in visual based programming tool, Beauto Builder2.  You can learn programming concepts using flowcharts and algorithms. Beauto Rover is also available in C development environment,  LPCXpresso.

Option Parts
Additional sensors are available!!!

 I/O board VS-WRC004LV
  • 4ch DC Motor Output
  • 3ch Analog Input
  • E8a Debugger Port
  • Encoder Input Port
  Motor Encoder
This expansion kit will allow you control the speed and the number of rotation of the motor.
It requires VS-WRC004LV!!!!!

Remote Controller
Infrared Sensors
This sensor will allow you to detect object infront of the robot.
If you want to connect 3 or more sensors, you will need VS-WRC004LV

Octal Infrared Sensor

Motor Amp for High Voltage/Current Output

This board will allow you to use bigger motors with higher voltage and higher current (16V/41A).
Following I/O are available:
  • Motor Signal Input
  • DC Motor signal Output
  • Voltage Input for the Motor
  • Voltage Out for CPU Board (4V)

[Tichno] Custmizable Life Size Humanoid Robot

Tichno ~Create your own custom life size robot~
$99,000 ~ $150, 000
Tichno is a customizable life size humanoid robot.  Actuators are developed for the use in larger humanoid robot in module, and the module can be easily custmized.
This robot will be great choice for your base pratform to create your character robot for any event or company.

Module Based Joint System
Module based joint system allow us easy customization for the customer and easy replacement of the joints for the fix or the upgrade.

  • Size:  1,310mm tall 
  • Weight:  26kg with battery
  • DOF:  22 ( Neck: 3, Body:  1, Arms:  4 x 2, Legs: 5 x 2)
  • Servo:  VS-SV410 x 3, VS-SV1150 x 11, VS-SV3310 x 
  • CPU:  VS-RC003HV
  • Sensor:  VS-IX001(2 axis gyro + 3 axis accelerometer)
  • Battery:  NiMH 14.4V 7200mAh
  • Frame:  Alminum, Carbon
  • Outer Shell:  ABS, FRP
  • Controller:  Remote controller 
  • Other:  LED, Speaker, Optional sensors
You can customize Tichno based on your need.
Outer shell can be different color or different shape.  You can change the number of joints...etc...
Please have your idea ready and conntact us! or me!


[R3] Life Size Service Robot Robovie R3

Robovie R3
$52,000 ~
Robovie R3 is a lifesize robot platform for studying humanoid robot communication.

Platform for developing new humanoid robot service
R3 is intended for the experiments in a real environment to human activities.  The wheels on the base will allow moving around on rough load.  The high performance motors on the wheels will allow moving up and down on the slope.

User Friendly
By having PC as a main control system, customer can easily develop their own system and adopt variety of sensors.
Also, iR3 has a sub control board, VSRC003, for motor control and touch sensor input.  This control board can be programmed by Robovie Maker 2 as you do on the smaller robots, such as KT-X and KTX-PC, etc...
You can also implement your own motions using Robovie Maker 2 and those motion can be controlled by Remote controller and can be used in your custom software with SDK.

Low Cost & Good Quality
By developing our own high performance servo motor, we achieved reducing the cost of R3 down to the price our customer can afford.
Also, by using our own servo motors, we made great improvement on its quality.

Variety of Option Parts 
  • Omni wheel - Omni directional wheels can be mounted on to the base
  • Gripper - Gripper hand option will allow the robot to grab small object
  • Lazer range finder:  Laser range finder can detect the distance to the object infront of the robot
  • Custom Outer Shell:  You can customize outer shell to fits to your use
  • Size:  1080mm x 500mm x 520mm
  • Weight:  35kg
  • DOF:  17 (Eyes: 2, Wrist: 3 Neck: 3, Arms: 4 x 2, Base: 2 wheels)
  • Servo Motors:  VS-SV1150 x 7, VS-SV3310J x 4, MICRO STD/F x 4
  • Motor:  Maxon Brushless Motor x 2
  • Main PC:  Can be chosen by the customer
  • Sub CPU board:  VSRC003HV(ARM7 60MHz)
  • I/O:  touch sensor x 11, USB Camera x 2, Mono microphone x 2, Speaker x 1, Laser range finder (optional)
  • Battery (12V 28Ah

Related Posts
User Manual

Sample Project

[Manoi] Q & A

1.  Where can I find English version of the software?
The manufacture of Manoi, Kyosho, does not provide any english support... Therefore, you have to look online and see if there is any english version is uploaded by 3rd party like us...  We do have "OLDER" version of english software, which is version 3 (created in 2006)... the current version provided by Kyosho is version 4.  I haven't had any problem using it before, so if you are fine with using older version... use ours.
Also, if you want to use version 4, please look at this page.  They have a English patch for HTH ver4.

[Manoi PF01] Cute! Friendly! High Performance!

Related Posts


<!> The English version software we curry is ver3 created in 2006.  Current version of software from Kyosho is ver4.  If you want to use current version of software, please look at this page from RoboSavvy Forum.


Tuesday, March 22, 2011

[KTX-PC] Q & A

1.  What is the difference between regular KTX-PC and KTX-PC Pro?

Basically, the only difference between those two version is the servo motors used.
KTX-PC has 18 regular servo motor with plastic geared (VS-S092j), and  2 high power servo motor with stronger motor and metal gears (VS-S281).  High powered servos are used for knee joints.
KTX-PC Pro has 4 regular servo and 16 high powered servo.  High powered servos are used for joints "except" Neck Pitch, Neck Yaw, and Thigh Yaw R/L joints.

2.  What is VSRC003 used for?
VSRC003 is secondary CPU board used to control motions (servo motors) and to communicate with sensors (gyro, accel, etc…).
KTX-PC comes with 2 axis of gyro and 3 axis of accelerometer and the values are obtained and managed by VSRC003.

Our KTX robots comes with a software called RobovieMaker2.  This software allows us to create motions and load them onto the robot.  Also, it allows us to change preference on the VSRC003, so that the board can communicate with sensor boards and other devices.
VSRC003 has r/w memory space for user defined variables.   By using this memory space, you can created complicated animation structure.

Moreover, we have a SDK for developing software for VSRC003.  The SDK helps users to create windows application to load motion, r/w memory space, and etc…

3.   What kind of camera does it have?
The camera used on KTX-PC is a USB Camera.  So, you can use it as a regular usb camera.
It directly connected to PC board (PICO820) by 4 wired usb cable.
If you want to implement some image processing on your robot, you can use the camera as you work with regular USB camera.

4.  Memory on the PC board expandable?
The memory on the PC board (PICO820) is expandable.  Please read the datasheet about PICO820

5.  What kind of battery is used?
The 7.2V battery is NiMH

6.  What is the Operating system running on?
We will not provide any operating system with the robot.  However, if the customer provides us the licensed copy, we can load it for the customer.
 We recommend to use windows xp, because we knows that it works great and our RobovieMaker2 and SDK currently only supports windows xp and 7.  
If you want to run linux, it is possible.  You can run any operating system can be supported by PICO820.  In this case you have to have windows environment on other machine or virtually on the same machine to run RobovieMaker2.  You can still create your own software to control your robot.  You can send command to VSRC003 through serial communication.

7.  Which version of Robot Project should I use?
If you don't know which version to use, please use the current version, the one has biggest version number.  Also, motions for KTX-PC and KTX-PC Pro has a little different configuration for gyro.  If you are using "Pro", use robot project for "Pro".

8.  How should I fix the robot, bouncing back and forth while he is standing up?
Because of heavy weight on the body, it is a little difficult to set the gyro configuration so that robot stand up steady.

Easiest way to fix this is by changing "Gain" on the gyro meter value.
If you change above Gain values, it will affected any time while playing the motion.
Try values lower than 256... if you put Zeros, gyro sensor is not effective anymore.

Also, if you want to change the gyro gain for each motions (Poses), you can do this by using slider bar for gyro gain.
  Open sample walking motion and click on each poses, you will see the slider moving... You can see how the slider bar is used for those motions.

Please look at VS-IX001 User Manual for more detailed information.

<!> Before you make any change, make sure to take a backup copy of "Robot Project Directory ".
<!> On Regular KTX-PC, you might not get as stable as Pro version.  Since regular version uses plastic servo horn and plastic gears, it's has more allowance.  If you thinking about using a lot of walking motions in your project, I would suggest upgrading leg servos to high power servo.

9.  Why is my robot not standing up from laying down position?
All models should be able to stand up from laying down position if you have the battery fully charged and correct calibration.  First, check your robot joints to see if they has enough range of motion.  If you replace some parts, misplacement of joint components (parts connected in wrong orientation) could cause this problem.  Also, those stand up motions require a lot of power, so ... make sure you have battery fully charged, especially on regular KTX-PC (Pro servos are stronger, so lower power might not be the problem).
<!> Take a video and send it to me!!! I can tell you what's wrong with it.

 10.  How to install OS (Windows XP) on KTX-PC
<!> If you have not installed xp on any machine before, please read installation manual provided by Microsoft.
<!> If you have not read PTX-PC User Manual, please read it.

Before start!
  Get all the items you need and get ready.
   - a power adapter for your PC board!
   - external CD/DVD drive (USB connection)  <= Must be powered by power adapter, Not USB powered.
   - mouse and keyboard
   - Display monitor
  <!> Do not connect battery! Don't need them for this installation...
  <!>Currently my robots are running on xp. Linux also can run on the PC board, but I won't be able to give you any support until I finish working KTX-PC on xp.

  (1) Install xp as you do on normal PC
      1. Make sure that the power switch of PC board is off.
      2. Plug power adapter to your PC board.
      3. Connect Keyboard to USB port
      4. Connect power adopter to your CD Drive
      5. Connect CD Drive to USB port
      6. Turn on the PC board
      7. Go to BIOS setup and change the setting of boot order to boot from CD Drive
      <!> If your keyboard does not work, try switching the port. and restart the PC board.
      8. Follow the step for xp installation...
      <!> Do not set password for your login!
      <!> Change BIOS keyboard setup after the instillation!
          - Standerd CMOS Features → Halt On  => All ,But Keyboard

  (2) Install Driver for your PC board.
      If you don't have installation disk, you can download driver here >>
      <!> After installing Display driver, the screen might go completely dark...
          Please use command (Ctrl+Alt+F1) to go back to the normal display (CRT)
          If the command still not make you go back to the normal display,
          then you might have setup a login password...
          Try entering "your password" + "Enter" + "Ctrl+Alt+F1"

  (3) Go to Device Manager.
      If you have a device listed under "image devices", then you have camera installed correctly
      <!> make sure cable coming out from the camera is connected to your PC board.

Now you are ready to write a small program to play with the camera!!!
Do not forget about setting up programming environment.
Install whatever you need for farther programming,
but remenber, the PC board is not powerful as your gaming PCs.
Only install what you need!

Also, for using RM2 on the PC board inside robot, please set "Activated Timer" to -1.
If you don't have this configured, the CPU board will not be able to play the motion by pressing reset button...
Please look at User Manual section 6.1.2.

<!> You can control your KTX-PC from on PC board in the robot or from your local PC.
However, you have to turn off the PC board in the robot when you controlling (programming) from local PC.

11.  How does real-time motion control work on KTX-PC? 
One of the example of real-time motion control is the video posted on programming page.  The robot follows AR (Augmented Reality) Tag.
Basically, the main software running on pc is capturing the image and finds the position, then overwrites the variable stored in the memory space of the servo controller board (VSRC003), so that the robot follows the tag.
To make the robot move along with the input from your main software, you will use output variable preference.
Output value (angle) of the servo motor is calculated frame by frame (each pose in the motion file contains some frames specified by number of "steps") as following...

Please read section 5-3 in RM2 User Manual.
If you don't know what those variables represents, please look at "Memory Map" PDF file.

The easiest way to get familiar with the use of output variable preference is to work on some motion file using analog control input to operate.  Get your remote controller ready and make your robot head move along with your analog input from the remote.

As you can see in your "output preference"  to use analog input variable, you have to change the analog slider bar value to None Zero!

12.  Screen Goes Blank after Installation of XP
It’s a little concern…
Assuming that you have not installed any driver, it should not be happening…

If you have installed driver for the on board graphic card, you can try following…
<!> After installing Display driver, the screen might go completely dark...
          Please use command (Ctrl+Alt+F1) to go back to the normal display (CRT)
          If the command still not make you go back to the normal display,
          then you might have settup a login password...
          Try entering "your password" + "Enter" + "Ctrl+Alt+F1"

If not, then you should pay attention to the windows screen before it gets “blank”…, and see there are anything reporting error or not.

Also, when it gets blank, is the PC board still running???
If the PC board itself is shutting down, possibly it’s a “power” issue.

If you have anything connected on USB port (except mouse and keyboard), those device needs to be self powered, which means it has its own power supply instead of using USB power.

13.  How to install Driver for PICO820
Installer for all the drivers would be executables… so you should be able to run them by double clicking it…,
which means, you can copy them onto USB storage device and plug on to the USB port and copy the files to your working directory (you can unplug keyboard, you don’t need it for the installation of drivers).

14.  Does not play any motion after loading motion files to the robot
Please check your CPU board preference.
Set "-1" to "Activated Timer".  Please look at KTX-PC User Manual Section 6.1.2.

15 PC reboots by itself...
The problem on PC rebooting is caused by low power on battery (if it's running off of battery).
You must use fully charged battery to operate PC and the servos.
Otherwise, the PC board keeps rebooting…

If the battery is fully charged, it will run about 30 min ~ 60min depends on what you are working on.
I normally use the separate power source to the PC board (not battery) for development.
However, you cannot operate servo and PC by the PC power source.
You can use battery and pc power source at the same time to work on motions and software development.
Also, if you do not want to use battery all the time, you can create your own power supply to the robot (CPU board, VSRC003).
I recommend to use 5V/1~2A power adapter.  You can get the connector fits to the robot from us.
Or ask us availability, I can make one for you.


Friday, March 18, 2011

[KTX-PC] Humanoid robot equiped with PC board! ~Introduction to KTX-PC~ 2

Standard:  $9,900
Pro(Full High Torque):  $14,500

"KumoTek Robotics announces the launch of a new low cost bipedal humanoid robot platform for researchers across America. Based on the 5 years RoboCup Award Winning VisiON 4G technology, the all new KT-X PC was developed with the concept of providing both an internal PC and motor controller in a bipedal robot frame, in order to expand the possibilities of robotics research.

The KT-X PC incorporates a 1.6GHz Atom Z530 processor, memory expansion slots, video input for vision, speakers, a 60Mhz motor controller, 3 axis gyro/accelerometer chip, a 1.3 megapixel CMOS camera, 6 high-torque/titanium gear motors in the legs and an external urethane foam casing to protect the robots internal PC and equipment from shock.

The onboard PC and vision system allows researchers to expand their areas of research and development, previously limited to higher end equipment. Through reliable communication and network capabilities, we expect this product to be utilized as a new man-machine interface connecting people and robots."

 There are "3" type of KTX-PC,  Standard, Half High Torque, Full High Torque.  Only difference between those modes is number of high power servo used.
Half High Torque has 10 regular servo(VS-S092J) and  10 high power servo (VS-S281J) used for legs.
Full High Torque has 4 regular servo (VS-S092J) and 16 high power servo (VS-S281J×16) used for legs and arms.
Following table describes specification on standard KTX-PC. 

20 Degree of Freedom
Head (2), Arms (6), Legs (12)
Servo Motor
VS-S092j x 18, VS-S281 x 2
Main CPU
PICO820 (Intel Atom Z530 1.6GHz)
CF Flash Memory 8GB
Secondary CPU
VS-RC003HV (ARM7 60MHz
USB Camera,
VS-IX001 (2 axel gyro sensor and 3 axel accelerometer
Shock-absorbing material
Mono Speaker
7.2 V Ni Battery,
PC board Power Adapter
Supported Interface
2 USB 2.0 port,
1 VGA,
1 LAN,
1 Speaker,
1 Microphone
Supported Operating System

 Parts and Accessories
<!>  The box will not come with the Robot!!! You can get one at Fry's.
  • Robot
  • Ni Battery (2 Pack)
  • Ni Battery Charger
  • Battery and Charger Cable
  • USB Communication Cable
  • Wireless Controller VS-C1
  • PC Power Adapter
  • CF Flash Memory (Inside Robot)
  • SO-DIMM1GB (Inside Robot)
  • CD (Manual, RobovieMaker2, Sample Software)
  • PC Board Accessories
  • USB Camera Accessories
Related Posts 
User Manual
Robot Project

Please use latest version!!!
If you want to update your CPU preference also with the Project File, please go to the page here >> and follow the step in Quick fix. 

<CPU Preferenc Files>


Sample Project

    Wednesday, March 16, 2011

    [Programming] IMU (Gyro and Accelerometer) Integration for Roboard

    I'm currently working on IMU integration for a robot (Roboard) from my partner company...
    The device I'm integrating is 6 DOF IMU from Sparkfun >>.

    I have wrote C++ code for i2c communication but it's not working....
    Cannot receive "Ack" from the device...
    Well, of course it's not gonna work because the CPU board has i2c communication on 5V, and the IMU board operates on 3.3V...

    Then, I got a logic level converter from Sparkfun >>.
    Make sure you use 2 TX I/Os instead of using combination of one TX and RX.
    Because I2C is "Bidirectional" and only TX on this board supports it!

    By the way, here is the good information on I2C communication on Roboard.

    [WoW] Real Time Mobile GPS Tracker with Google Maps

    I was looking for GPS module for my robot and found a great ecample for GPS implementation on Arduino!
    Check this out >>

    Friday, March 11, 2011

    [Programming] Interfacing with I2C Devices on Beagleboard

    I found a very usefull site for i2c comm on beagleboard!
    Check this out! >>

    [WoW] Blender for Robotics

    I was searching for some info on Beagleboard and ROS... and find this website.
    Blender for Robotics
    I did not know that "Blender" can be used in robotics environment... it's pretty interesting.
    I have used blender before to create my own 3D character.  However, back then, it did not have any robotics feature...  WoW!

    Tuesday, March 8, 2011

    [Beauto Rover ARM] Great Educational Robot!

    Coming Soon!
    Beauto Rover ARM is a educational robot equiped with ARM microprocessor, ideal for embedded programming learning material for high school and college students.
    Also this is best product for adults who wants to learn embedded world for their home project.


     Beauto Rover can be programmed in visual based programming tool, Beauto Builder2.  You can learn programming concepts using flowcharts and algorithms. Beauto Rover is also available in C development environment,  LPCXpresso.

    Monday, March 7, 2011

    [Plen] Desktop Hobby Robot

    - More than 20 motions are pre-installed.
    - Easy step by step instruction
    - Just snap on his roller skates!

    - Plen can be controlled via Bluetooth by your cell phone or PC

    - Motion Editor software, epecially designed for Plen, allows you to create your own motions.
    - Have your screw driver ready! Assembling Plen is very easy


    Wednesday, March 2, 2011

    [Project] Robotic Dinosaurs

    In 2010, KumoTek introduced the world’s first truly interactive robotic dinosaur experience at the historic Field Museum of Natural History in Chicago, Illinois. The robots attracted over 250,000 people during their six month run and have been an unprecedented success for the museum. The RoboSUE experience features a truly interactive robotic recreation of the famous “Sue” T-Rex and several other prehistoric reptilians that lock on to human faces and tracks visitors in real-time. The robots are controlled by KumoTek’s Human Interaction System which allows guests to experience what it would have been like to be stalked by life-sized dinosaurs.

    Technology used in this project:
    - Face Tracking
    - Kinematic Motion Control
    - Event Based Behavior Control

    Face Tracking  is used for triggering the behavior of the dinosaurs. It will detect multiple faces and pick an active face and selects behavior based on the action of the person detected.
    For example, if one person approaches to the dinosaur quickly enough to scare the dinosaur or make him angry, it will roar at the person while it's tracking.

    To make the dinosaur looking at the visitor, "Inverse Kinematics" is used. Based on the face position given by the face-tracking, motion controller will calculate the angles for each joints and move the servo to the position.

    The behavior of the dinosaurs are determined by the process manager based on order, priority, time interval, and etc... of the given triggers generated by face tracking, user interface, and network communication.

    More Videos:


    [Project] Robots in the Nieman Marcus window!

    On November 20, 2010, KumoTek unveiled a first-of-its-kind interactive holiday window display, featuring our KT-X humanoid robots and user activated Augmented Reality (AR) at Neiman Marcus’ flagship store in downtown Dallas, Texas. The AR was developed in collaboration with Chicago based Tribeca Flashpoint
    Acedemy. The event attracted more than 5,000 people on opening day and has entertained over 50,000 guests since the launch.

    Visitors to the Neiman Marcus window are able to use either their smart phones or paper markers with embedded codes used for triggering virtual worlds and 3D characters on large LCD screens in front of them. Additionally, advanced face detection software creates an illusion of alien face morphing on a large ceiling mounted monitors for a special guest experience.

    One station has an interactive character of our KT-X humanoid robot, others have animated rockets blasting off into space and solar systems revolving in the palm of your hand. Best of all, visitors can take the experience home with them and re-live it over the Neiman Marcus