Home > Product Manual. ROBOTIS e-Manual v Product Manual. Click the icon below to move to the product manual page. First of all, let’s study about the Bioloid’s hardware and software. The terms used here will be mentioned often throughout the manual so it is important that you. Read and completely understand the manual before trying to build a robot. .. Select ‘Start >> All the programs >> Robotis >> Bioloid >> Software >> Behavior.

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Turn the CM on and press the U button. The LED will turn on to show how much battery you have left as seen in the figure below. This is to allow the robot to automatically configure its gyro sensors so that it can walk properly. If the robot has been incorrectly assembled to an extent biollid it may be severely damaged, a warning sound will be activated. Also, the LED of the motor with the problem will turn on and release its torque to prevent bio,oid.

Please refer to the Assembly Manual to check whether the gyro sensor has been properly assembled. Find the motor indicated by the LED and refer to the Assembly Manual to check whether it has been assembled correctly. Make biolodi that the joints are free of cables or other debris. If you press a button on RC before choosing a mode, the robot will enter remote control mode. After mounting the IR receiver on CM under control mode, you can set the channels to control it remotely by pressing the Aux button.

If you change the channel of the controller, you must also change the channel of RC The robot will clap depending on how many times manul clap. When DMS senor detects an object, the robot greets the user.


If the robot does not sense any sound or object for a while, it performs various motions on its own. The robot will walk by itself while avoiding obstacles. When absolute distance sensor detects bilooid obstacle, the robot will stop and turn left until the obstacle is no longer detected. If it falls down while walking, it will get back up in the direction it was moving.

You may use the Check Assembly Mode to see whether your robot has been properly assembled. Isolate each motor and compare it to the standard posture.

You may obtain Lithium polymer batteries from www. Double click an empty line or press EnterIn the Select Control window, select the controller to use, then press the OK button. To print the numbers on the screen endlessly, use the Endless Loop command Create a command line. Use Load command to input a Print command, which is needed to print numbers on the screen. Choose the left parameter? The left parameter receives input from the right parameter. Double click the left parameter?

When both parameters of the Load command have been set, it should look like below.


Load 2 into Print with Line. The final task code is shown below. Download the task code created above. How to Download Task Code.


There are three ways to open the Program Output Monitor. When you turn on the controller, the LED will blink, showing it is in standby mode. Objective for this tutorial is to learn how to use the Walking Machine. Waking Machine is a combination of a walking motion file made up of specific patterns and a task code that plays theh role of smoothly connecting the walking motions in this motion file.

Several motion pages are gathered and repeatedly played to make up one walking pattern forward, backward, etc. The walking motion files used in the Walking Machine contain 16 different walking patterns shown below.

There are samples that use these 2 functions to control the robot with a remote controller. The InitializationWalk function initializes the variables and brings the robot to its default position.


The WalkExecute function executes each walking pattern and smoothly joins the walking pattern. Change the Start Program function in the sample codes to suit your needs. Code to control the gyro sensor will be added to the task code used in the [Walking Machine] section. Review the [Walking Machine] section before getting started. A Gyro sensor is used to determine angular velocity angular variation per second. A humanoid with a gyro uses the Callback Function to determin the posture adjustment value.

The callback function is a function that runs independently of the main program routine and is automatically executed at fixed intervals. Therefore, by calculating the adjustment value and using the value in a callback function to adjust the posture at regular intervals, the robot can adjust its posture automatically.

In order to apply the joint offset a motion must be executed. When no motion is being played, the joint offset will not be applied even if a value is input by the gyro sensor. The BalancePage is used to apply the joint when no motion is being executed.

The InitializeGyro function reads the gyro sensor value 10 times in a 0.

The standard value violoid Approximate degrees. If the gyro sensor value is less than or greater thanit assumes there is no gyro sensor and does not manuql adjustment when there is no gyro sensor or the robot has moved during initialization.

At regular intervals, the callback function reads the current gyro bioloic value and compares it to the standard value to calculate the adjustment value. If the UseGyro variable is false, the robot it will not mmanual itself. Thus, set the UseGyro variable to false where you do not wish to use the gyro adjustment.

Adjustment using the Gyro Sensor, Custom Motions: Code to execute user-defined motions will be added to the task code used in the Adjustment using the Gyro Sensor section. The motion file is from the Custom Motions: Review the two sections before getting started. CreateCustom Motions: In this case, it is not necessary to revise the motions to keep the arm still. Normally, motion data has the highest priority and task code has the next highest priority.

Bioliod, under normal circumstances, if a motion is executed, it is impossible to control specific dyanmixels using task code. There are 2 methods to control the motor entire arm including the gripper with a task code while a motion is being executed. The first method disables the actuator in the entire page.


Even If there is a motion requiring the corresponding actuator, there is no way to control maual with the motion data.

Set the joint offsets of the actuatorsfor both arms toso that they are not controlled by the motion data. If the joint offset is used in the callback function to apply the gyro adjustment value, the joint offset should not be set for the joints used by the grippers. This is manuxl prevent the values set as in STEP 1 from being changed.

Copy the following fuction to control the gripper and arm. Add code to control the gripper and arm using the remote controller.

Task Code] will help you understand the code below. Dynamixels used as robot actuators possess many functions. The mode can be changed using RoboPlus Manager. Once the mode is set, it will be maintained, even when turned off. If the problem persists, your dynamixel may need bioooid. Please contact the service department of the company you purchased from. The communication quality of ZIGBee is better than that of IR, so it allows many users to control their robots without manyal. Please note that not all products include a zigbee module and may need to be purchased separately.

To upgrade to the Zigbee communication method, you must purchase the Nanual set separately. The modules in a single Zigbee set have been preconfigured to communicate with each other. Therefore, a module from one set may not work with a module from another set. Please be careful not to mix them up.

Thus, all users must set their channel to 1 for broadcast communication. All channels for the devises must pair to communicate. The channel for the zigbee connected to the controller is not changeable.

Thus, all users must set their channel to 4 for broadcast communicationAll channels for the devises must pair to communicate. For more information on each sensors, please click on the names of the sensors. Connecting poorly designed circuits may damage the controller. Please boloid sure to acquire sufficient knowledge about circuits beforehand.

Please use the 5P Cable when using other sensors. Most of the sensors used in robots, such as IR sensors and distance sensors, support analog output.

These sensors may be designed by the user or bought from a store. You can use these spare parts to make a gripper to your humanoid. Below are the parts required to make a gripper. Make two of these if you want to attach a gripper on both hands. By making a robot with grippers, you can expand the things you can do with the robot.

For more information on controlling the gripper robot, please refer to gripper control.

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