introlab/t-top20T-Top is a tabletop robot designed with advanced audio and vision sensors, deep learning perceptual processing and telecommunication capabilities to provide richer interaction modalities and develop higher cognitive abilities from interacting with people.
Dynamixel control is an open-source printed circuit board by introlab, from the introlab/t-top repository on GitHub. It is a 4-layer board of 36 × 56 mm with 55 parts on 53 nets, routed with 346 tracks and 53 vias.
It is built around the R-78E5.0-0.5, SN65C3221EPW and SN74LV1T34DBV, with the SN74LVC2G241DCU, ICM-40627 and SN74AHC1G14DBV among its other parts. Its parts include 20 capacitors, 15 resistors, 7 ICs, 6 connectors and 2 transistors. It belongs with the robots and motor control and audio and music boards and the NXP (LPC, Kinetis, i.MX RT) boards of this library.
T-Top is a tabletop robot designed with advanced audio and vision sensors, deep learning perceptual processing and telecommunication capabilities to provide richer interaction modalities and develop higher cognitive abilities from interacting with people.
| Category | Type | Description |
|---|---|---|
| Power | Power Adapter | 19 V |
| Battery | 1x RRC2054-2 | |
| Battery Charger | 1x RRC-PMM240 | |
| Sensors | Microphone Array | 16x xSoundsMicrophones, 1x 16SoundsUSB |
| RGB-D Camera | 1x Intel RealSense D435i | |
| Wide Angle Camera | 1x Arducam AR0230 | |
| Touchscreen | 1x 7 inch 1024x600 capacitive touchscreen | |
| Current/Voltage | INA220 | |
| Light Sensors | 4x Adafruit ALS-PT19 | |
| Buttons | 4x buttons | |
| Actuators | Stewart Platform | Displacement range: ±3 cm (x, y and z), ±20° (x and y), ±30° (z). Motor: Dynamixel XL430-W250 |
| Rotating Base | Displacement range: illimited. Motor: Dynamixel XL430-W250 | |
| Speakers | 4x Dayton Audio DMA45-8, 2x MAX9744 | |
| Cooling | 2x Noctua NF-A4x20 5V | |
| Touchscreen | 1x 7 inch 1024x600 capacitive touchscreen | |
| LED | Battery status, volume level, led strip | |
| Network | WiFi | Intel Dual Band Wireless-AC 8265 NGW |
| Ethernet | 100 Mbps | |
| Processing | Computer | NVIDIA Jetson AGX Xavier Developer Kit or NVIDIA Jetson AGX Xavier Orin Developer Kit |
| Motor MCU | Teensy 4.0 | |
| Battery MCU | Teensy LC | |
| Perceptions | SLAM, object detection, person pose estimation, face recognition, sound classification, speaker identification, robot name detection, speech to text, person identification, music beat detection, source source localization, ego noise reduction, vad | |
| Behaviors | Telepresence, emotions, talking, greeting, face following, dancing, exploring, sound following |
See 01_COMPUTER_CONFIGURATION.md
IntRoLab - Intelligent / Interactive / Integrated / Interdisciplinary Robot Lab
| Qty | Value | Footprint | References |
|---|---|---|---|
| 13 | 0.1µF/25V | Capacitor_SMD:C_0805_2012Metric | C4, C5, C7, C8, C9, C10, C11, C13, C15, C18, C19, C22, C23 |
| 4 | 10k | Resistor_SMD:R_0805_2012Metric | R1, R2, R3, R12 |
| 3 | 0 | Resistor_SMD:R_0805_2012Metric | R4, R10, R11 |
| 3 | 100k | Resistor_SMD:R_0805_2012Metric | R15, R16, R18 |
| 3 | 10µF/25V | Capacitor_SMD:C_0805_2012Metric | C1, C3, C14 |
| 3 | Dynamixel TTL | t-top:25SH-C-03-TS | J8, J11, J12 |
| 2 | 12µH (RLS-126) | Inductor_SMD:L_1812_4532Metric | L1, L2 |
| 2 | 2.2k | Resistor_SMD:R_0805_2012Metric | R7, R8 |
| 2 | 2.2µF/25V | Capacitor_SMD:C_0805_2012Metric | C12, C25 |
| 1 | 10nF/25V | Capacitor_SMD:C_0805_2012Metric | C6 |
| 1 | 12V | t-top:t-connector | J1 |
| 1 | 4.7µF/25V | Capacitor_SMD:C_0805_2012Metric | C2 |
| 1 | 47 | Resistor_SMD:R_0805_2012Metric | R14 |
| 1 | 825 | Resistor_SMD:R_0805_2012Metric | R17 |
| 1 | Debug Uart | Connector_PinHeader_1.27mm:PinHeader_1x03_P1.27mm_Vertical | J6 |
| 1 | ICM-40627 | t-top:ICM-40627 | U6 |
| 1 | IPD068P03L3GATMA1 | Package_TO_SOT_SMD:TO-252-2 | Q2 |
| 1 | LIMIT_SWITCH | Connector_JST:JST_PH_B2B-PH-K_1x02_P2.00mm_Vertical | SW1 |
| 1 | MountingHole_3.2mm_M3 | MountingHole:MountingHole_3.2mm_M3 | MH1 |
| 1 | NI | Resistor_SMD:R_0805_2012Metric | R9 |
| 1 | R-78E5.0-0.5 | t-top:R-78E-0.5 | U1 |
| 1 | RS232 | Connector_JST:JST_PH_S3B-PH-K_1x03_P2.00mm_Horizontal | J2 |
| 1 | SN65C3221E | Package_SO:TSSOP-16_4.4x5mm_P0.65mm | U5 |
| 1 | SN74AHC1G14 | Package_TO_SOT_SMD:SOT-23-5 | U2 |
| 1 | SN74LV1T34 | Package_TO_SOT_SMD:SOT-23-5 | U7 |
| 1 | SN74LVC2G241 | Package_SO:VSSOP-8_2.3x2mm_P0.5mm | U8 |
| 1 | T2N7002AK | Package_TO_SOT_SMD:SOT-23 | Q3 |
| 1 | Teensy_4.0 | t-top:Teensy_4.0 | U4 |
The 54 most common of 55 parts.
It measures 36 × 56 mm and has 4 copper layers, 1.6 mm thick.
55 parts, built around the R-78E5.0-0.5, SN65C3221EPW, SN74LV1T34DBV and SN74LVC2G241DCU. The full list of its parts is on this page, with links to each part's symbol and footprint where PCBKit's library has them.
From the introlab/t-top repository on GitHub, at the commit this page was made from: the board is PCB/dynamixel_control/dynamixel_control.kicad_pcb and its schematic PCB/buck_boost/buck_boost.kicad_sch. PCBKit opens the board in the browser, with nothing to install.
Its repository states no licence, so its author keeps all rights: ask introlab before reusing the design.
introlab/t-top
T-Top is a tabletop robot designed with advanced audio and vision sensors, deep learning perceptual processing and telecommunication capabilities to provide richer interaction modalities and develop higher cognitive…
introlab/t-top
T-Top is a tabletop robot designed with advanced audio and vision sensors, deep learning perceptual processing and telecommunication capabilities to provide richer interaction modalities and develop higher cognitive…
wenzel-lab/high-voltage-pulse-generator
Custom electronics solution for microfluidic droplet sorting pulses
snakebot-tohoku/esp_header_4_Layers
4-layer PCB board designed as header for ESP32-S3 developer board to interface up to 15 motors and 15 analog sensors.
