CP01 has 10 different modules: head, facial, image, sound, chest, arm (2), hand (2) and base. Each one of them is electrically, mechanically and computationally independent on the others according to TORP Specification Set (for details about this independence, see
Why is it special? section). Here you will find the description of all these modules (main characteristics, list of on board equipment) and the mechanical details of them (type of material, size, milling, etc.).
Head Module
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| Main Characteristics | High size head with emotional behavior demonstration capabilities (mouth leds matrix, face changing colors). Moving neck with 3DOF. Connected above to chest module. External to sound and image modules |
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| Module Electrical Specifications
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| Classification | expansible order 3 |
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| Actuators: | 01 RGB Led Matrix
02 power RGB leds
03 high power servomotors |
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| Boards: | 01 Verdex Pro XM4
01 Net Pro VX with wifi module
01 TB1 (general controller)
01 TB2 (regulation)
01 TB3 (mouth controller)
02 TB4 (high bright led controller) |
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| Sensors: | 01 accelerometer |
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| Module Mechanical Specifications
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| Classification | external expansible order 3 |
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| Material: | Aluminium |
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| Parts: | 01 CP01-HE-1 (Head main part)
01 CP01-HE-2 (Head cover)
01 CP01-HE-3 (Head tube)
01 CP01-HE-4 (Head Face)
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Chest Module
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| Main Characteristics | Connected to base module. Expands to arms and hand modules. Mechanical suport to plastic chest. Can support other exhibition device. Chest and backbone changing colors. |
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| Module Electrical Specifications
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| Classification | expansible order |
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| Actuators: | 02 power RGB leds (face)
01 RGB leds line (backbone)
02 power RGB leds (chest)
02 high power servomotors |
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| Boards: | 01 computer board with display
01 electrical board |
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| Sensors: | 01 acelerometer
04 Sonars |
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| Module Mechanical Specifications
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| Classification | expansible order |
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| Material | Aluminium |
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| Parts | 01 CP01-CH-1 (main part)
01 CP01-CH-2 (cover) |
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Hand Module (2)
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| Main Characteristics | Connected to arms modules. Gripper whit 1 DOF. Pressure sensor in fingers to identify tough interactions. Hands changing color. |
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| Module Electrical Especifications
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| Classification | expansible order |
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| Actuators | 01 small servomotor
01 power RGB led (hand) |
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| Boards: | 01 computer board
01 electrical board |
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| Sensors: | 02 pressure sensors |
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| Module Mechanical Especifications
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| Classification | expansible order |
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| Material | Aluminium |
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| Parts | |
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Arm Module (2)
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| Main Characterists | Connected to chest module. Expand to hand module. |
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| Module Electrical Especification
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| Classification | expanssible order 1 |
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| Actuators: | 03 high power servomotors (shoulder and elbow)
02 small power servomotors (wrist) |
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| Boards: | 01 computer board
01 electrical board |
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| Sensors: | 01 acelerometer |
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| Module Mechanical Especification
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| Classification | expansible order 1 |
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| Material | Aluminium |
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| Parts | 04 CP01-AR-1 (shoulder)
04 CP01-AR-2 (shoulder cover)
02 CP01-AR-3 (shoulder link)
02 CP-01-4 (tube)
02 CP-01-5 (Elbow)
02 CP01_AR-6 (tube) |
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Base Module
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| Main Characteristics | Connected to chest module. Strong mechanical support the whole robot body. High power motor device. |
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| Module Electrical Especification
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| Classification | terminal |
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| Actuators: | 03 Very high power servomotor |
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| Boards: | 01 computer board
01 electrical board |
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| Sensors: | none |
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| Module Mechanical Especification
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| Classification | expansible order 1 |
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| Material | Aluminium |
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| Parts | |
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Image Module
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| Main Characteristics | Internal to head module. Manage all image acquisition and processing. |
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| Module Electrical Especification
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| Classification | terminal |
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| Actuators: | none |
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| Boards: | 01 computer board
01 electrical board |
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| Sensors: | 01 camera |
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| Module Mechanical Especification
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| Classification | terminal internal
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Sound Module
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| Main Characteristics | Internal to head module. Manage all image acquisition and processing. |
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| Module Electrical Especification
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| Classification | terminal |
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| Actuators: | 01 speaker |
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| Boards: | 01 computer board
01 electrical board
01 sound board |
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| Sensors: | 01 microphone |
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| Module Mechanical Especification
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| Classification | terminal internal
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Mechanical parts
d: diameter
l: length
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| Part number | Description | Quantity | Milling Material min size (mm) | Vol (cm3) |
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| TMP-30-1 | Mechanical plug - Female connection | 01 | d=38, l=35 | 158.7 |
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| TMP-30-2 | Mechanical plug - Male connection | 01 | d=32, l=65 | 209 |
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| TMP-30-3 | Mechanical plug - Pin connection | 01 | d=20, l=15 | 18.84 |
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| TMP-30-4 | Mechanical plug - Cover connection | 01 | d=32, l=10 | 5.19 |
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| TMP-30-5 | Mechanical plug - Spring | 01 | d=10, l=35 | - |
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| --
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| CP01-AR-1 | Arm - Shoulder | 02 | 192x142x74 | 2017.5 |
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| CP01-AR-2 | Arm - Shoulder lid | 02 | 192x142x15 | 409 |
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| CP01-AR-3 | Arm - Shoulder cover | 04 | d=216, l=10 | 366.4 |
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| CP01-AR-4 | Arm - Shoulder link | 02 | 82x78x26 | 166.3 |
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| CP01-AR-5 | Arm - Tube | 02 | d=51, l=185 | - |
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| CP01-AR-6 | Arm - Elbow | 04 | d=48, l=35 | 63.3 |
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| CP01-AR-7 | Arm - Tube | 02 | d=51, l=225 | - |
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| --
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| CP01-CH-1 | Chest - Main part | 01 | 200x125x77 | 1925 |
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| CP01-CH-2 | Chest - Cover | 01 | 200x125x37 | 925 |
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| CP01-CH-3 | Chest - Chest design | 01 | - | - |
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| --
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| CP01-HE-1 | Head - Main part | 01 | d=150, l=95 | 1590,4 |
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| CP01-HE-2 | Head - Cover | 01 | d=150, l=3 | 212 |
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| CP01-HE-3 | Head - Tube | 01 | d=50, l=400 | - |
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| CP01-HE-4 | Head - Face design | 01 | d=400, l=200 | - |
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| ---
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| CP01-NE-1 | Neck - Main part | 01 | 354x74x90 | 2357.6 |
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| CP01-NE-2 | Neck - Lid | 01 | 354x74x30 | 785.9 |
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| CP01-NE-3 | Neck - Cover connector | 04 | d=144, l=20 | 293,2 |
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| CP01-NE-4 | Neck - Link connector | 02 | 104x39x30 | 121,7 |
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| --
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| CP01-HI-1 | Hip - Main part | 01 | d=200, l=100 | 2827,4 |
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| CP01-HI-2 | Hip - Lid | 01 | d=200, l=25 | 722,5 |
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| CP01-HI-3 | Hip - Column | 01 | 270x98x50 | 1323 |
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| CP01-HI-4 | Hip - Lid column | 01 | 270x98x15 | 397 |
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| CP01-HI-5 | Hip - Belt design | 01 | - | - |
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What, where and how?
| Quantity | Description | Manufacturer | Part and link | Package | Input Voltage | Current | Output | Datasheet
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| TORP Modules Boards (you can download these project from our repository)
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| 01 | Board 1 | | | | | | |
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| 01 | Board 2 | | | | | | |
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| Actuators
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| 01 | Very high power servomotor | Dynamixel | EX-106
(link here ) | - | - | - | - | ex106.pdf
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| 11 | High power servomotor | Dynamixel | RX-64
(link here) | - | - | - | - | rx64.pdf
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| 04 | Small power servomotor | Dynamixel | AX-12
(link here) | - | - | - | - | ax12.pdf
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| 07 | Small servomotor | ? | ? | ? | ? | ? | ? | ?
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| 10 | Large RGB leds | unknown | 5mm RGB Led | - | - | - | - | -
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| 20 | High Bright RGB leds (7cd) | OPTEK | OVSPRGBCR4 | SMD | - | - | - | ovsprgbcr4.pdf
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| 01 | Speaker | ? | ? | ? | ? | ? | ? | ?
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| 02 | Active Matrix OLED | 4DSystems | 32028-P1T 2.83
(link here) | - | - | - | RS232 | 32028.pdf
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| Sensors
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| 02 | 3 axis Accelerometer | Analog Devices | ADXL330KCPZ
(link here) | LFCSP SMD | 2 to 3.6V | 320uA | 3CH analog (0 to 5V) | adxl330.pdf
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| 01 | Analog Compass | Dinsmore | 1655
(link here) | - | 5V | 19mA | 2 analog CH (1.55V to 3.25V) | 1655.pdf
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| 06 | Pressure sensor | Flexiforce | A201 Force Sensor
(link here) | ? | ? | ? | ? | a201.pdf
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| 01 | GPS | UNITRAQ | GT320R
(link here) | - | 3.8 to 8V | 45mA | RS232 | gt320r.pdf
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| 06 | Sonar | MAXBOTIX | Maxsonar EZ-1
(link here) | - | 2.5 to 5.5V | 3mA | RS232 | ez1.pdf
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| 05 | IR Distance sensor | Sharp | GP2D120XJ00F (link here) | - | 0.3 to 7V | - | analog (0 to 5V) | gp2d120xj00f.pdf
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| Integrated Circuits
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| XX | RGB Led driver | MAXIM | MAX6946ATE+ | 16QFN SMD
T1633-4 | 2.25 to 3.6V | - | - | max6946.pdf
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| XX | Transceiver RS485 | EXAR | SP485ECN-L | NSOIC8 SMD | 5V | - | TTL | sp485.pdf
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| XX | Transceiver RS232 | TEXAS INSTR. | MAX232DG4 | SOIC16 SMD | 4.5 to 5.5V | - | - | sp485.pdf
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| XX | Transceiver RS232 (4) | TEXAS INSTR. | MAX3243EIPQG4 | TSSOP28 SMD | -0.3 to 6V | - | - | max3243.pdf
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| XX | Voltage regulator | ON SEMICONDUCT. | LM317BD2TG | D2PACK 3 SMD | 3 to 40V | - | - | lm317.pdf
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| XX | Analog Mux | MAXIM | MAX309CSE+ | 16 NARROW SO SMD | 5 to 20V | - | - | max309.pdf
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| XX | ADC Converter | MAXIM | MAX1111CEE+ | QSOP 16 SMD | 2.7 to 5.5V | - | - | lm317.pdf
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| 01 | Microphone | ? | ? | ? | ? | ? | ? | ?
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| 01 | Camera | ? | ? | ? | ? | ? | ? | ?
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| PC Boards
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| 09 | Computer board | Gumstix | Verdex Pro XM4
(link here )
Netpro-VX
(link here )
wifi module FCC
(link here ) | - | - | - | - | verdex.pdf
netprovx.pdf
wifi_fcc.pdf
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| 01 | Computer board with display | Gumstix | LCD Pro Pack
(link here) | - | - | - | - | pro_pack.pdf
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| 01 | Sound board | Gumstix | Roboaudio-TH (link here) | - | - | - | - | roboaudio.pdf
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| Connectors
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| 10 | Gumstix 60 pin 3.5mm | HIROSE | DF12(3.5)-60DP-0.5V(86) | - | - | - | - | df12.pdf
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| 10 | Gumstix 60 pin 2.5mm | HIROSE | DF16(2.5)-60DP-0.5V(86) | - | - | - | - | df12.pdf
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| Other
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| XX | Screws | - | - | - | - | - | - | -
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