1. Overview 2 DOF in Head 4 DOF/Arm 1 DOF in Torso 6 DOF/ Leg

2. BODY DIMENSIONS ~25.5” Tall (feet to shoulder) 10” Shoulder Width 2.5” Torso Width

3. Custom Servo Brackets 4 Simple brackets for multiple servo mounting orientations ◦Side mount ◦Bottom mount ◦Large “C” bracket  Single plane dual axis rotation ◦Shoulder Rotation Side Mount Bottom Mount Large “C” Shoulder Rotation

4. LINKS & BRACKET INTEGRATION Simple Aluminum rods, ¼” Cut to length  Height adjustability Very cheap (~$7 per 6ft) Integrates into standard servo brackets. Simple 6-32x1/2” machine screws for assembly Custom Brackets Store bought Brackets Arm Assembly

5. HIP DESIGN Ball Bearing ◦Axial and Radial Loads ◦Low rotation friction ◦Ball Bearings are cheap Reduce stress on servo horn ◦Increased hip Stiffness -Green Rotation -Gray Static

6. TORQUE REQUIREMENTS T1 T2 T3 Squat T3 F Leg Lift Push up F/2 Te

7. TORQUE RESULTS ROBOARD SERVO SPECS Standard size digital servo Torque @7.4V: 35.0 kg-cm/486.0 oz-in Speed: 0.11 sec/60º Voltage: 6 to 7.4V Weight: 70g leg lift (1 leg)Squat (2 leg) Torque at HipAnkleKnee MAX (lb-in)14.4440296118.7491118.73543 (oz-in)231.1044738299.9858299.7669 FS2.0769827261.6000761.601244 Elbow Torque F (lbs)5.118229269 in-lb16.53188054 oz-in264.5100886 FS1.837359031 weight (lbs) foot (ALL)1.4708 Lower Leg Links0.0415 Knee servo0.1543 Knee C-Bracket0.0300 Knee bottom Bracket0.0100 TOTAL KNEE JOINT0.1943 Upper leg Links0.0377 Hip C-bracket0.0300 Hip servos0.4630 Hip Brackets0.0522 TOTAL HIP JOINT (1 side)0.5451 TOTAL ABOVE HIP (2 sides)5.65748.2165 Hip plate0.1100 Hip components0.1500 Torso plate bottom0.1000 Torso plate top0.2100 Torso servo0.1543 Torso links0.6509 Other torso weight1.2000 Shoulder servos0.3086 shoulder brackets0.0522 upper arm C-bracket0.0300 Upper arm servo0.1543 upper arm links0.0188 upper arm brackets0.0500 elbow servo0.1543 lower arm C-bracket0.0300 lower arm links0.0377 lower arm bracket0.0100 Neck0.3000 TOTAL BODY10.23652.5591

8. Stress Analysis Bottom Bracket

9. Stress Hip/Shoulder Bracket

10. Stress Analysis Elbow Bracket

11. Stress Analysis Leg Assembly

12. Deformation Leg Assembly

13. Power Calculation Part NameFunctionRequired Voltage Quiescent Current Active Current Power / Per NumberTotal Power EasyVR Speech Module voice commands 5V1mA180mA.9W10.9 RoBoard RB- 110 main computer/proce ssor 6-24V400ma2W12 LV-MaxSonar- EZ0 ultrasonic rangefinder 2.5-5.52mA.01W20.02 GP2Y0A02YK 0 IR rangefinder4.5-5.533mA0.16540.66 IMU Combo Board Internal Gyro/Accelerom eter 3.3V45uA6.75mA0.0221 RoBoard RS- 1270 Servo7.45mA1.5~5A11.1~ 37W 22~66 70W

14. Controller ModelRoboard RB-100 ProcessorDM&P Vortex86DX running at 1GHz Memory256MB DDR2 onboard ADCsAnalog Devices AD-7918 10-bit I /O Interface Micro SD slot x1 USB port x 1 (USB 2.0 version) Connectors 2.54 mm 3-pin box header for PWM x 24 2.54 mm 10-pin box header for RS-232 x1 2.54 mm 10 -pin box header for USB x1 2.0 mm 4-pin header for RS-485 x1 2.0 mm 4-pin header for TTL serial x1 2.54 mm 10 -pin box header for SPI & I 2C x1 2.54 mm 16-pin header for A/D x1 1.25 mm 3 -pin wafer for TTL serial x 1 1.25 mm 4 -pin wafer for LAN x 1 1. 2 5 mm 4-pin wafer for MIC-in x 1 1. 2 5 mm 4-pin wafer for Line-out x1 1. 2 5mm 6-pin wafer for JTAG x1 0.8mm 124-Pin Mini PCI Card connector 3.96 mm 2 pin for Power x 1 Power Consumption +5V @ 400mA Power InputDC-in 6V to 24V Dimension96 x 56 mm Weight40g Resolution PWM : 20ns Serial : 115200bps I2C : 1Kbps ~ 3.3Mbps SPI : 10Mbps to 150Mbps Half-Duplex;