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Simulation of a Robotis DARwIn-OP in Webots

DARWIN-OP which stands for Dynamic Anthropomorphic Robot with Intelligence–Open Platform is a miniature-humanoid robot platform with advanced computational power, sophisticated sensors, high payload capacity, and dynamic motion ability developed and manufactured by Korean robot manufacturer ROBOTIS[1] in collaboration with Virginia Tech, Purdue University,and University of Pennsylvania. DARWIN-OP has twenty degrees of freedom [20 DOF] each controlled by a DYNAMIXEL MX-28T[2] servo motor. The MX-28T has a stall torque of 24 kgf·cm (at 12 V, 1.5 A) and a 360 degree range of motion.

DARWIN-OP's main purpose is for research and programmers in the fields of humanoid, artificial intelligence, gait algorithm, vision,[3] inverse kinematics, linguistics, etc...[4] It is also supported by $1.2 million NSF grant [5][6] and has been distributed to over 14 institutions already.[5][6]

DARWIN-OP is also the winner of the Kid Size League in the RoboCup 2011[7][8][9][10] 2012 League, [11] and 2013 League.


  • Height: 454.5 mm (17.89 in)
  • Weight: 2.9 kg (6.4 lb)
  • Default walking speed: 24.0 cm/s (9.5 in/s) 0.25 s/step – user modifiable gait
  • Default standing up time from ground : 2.8 s (facing down) and 3.9 s (facing up) – user modifiable speed
  • Built-in PC: 1.6 GHz Intel Atom Z530 (32 bit) on-board 4 GB flash SSD
  • Management controller (CM-730): ARM CortexM3 STM32F103RE 72 MHz
  • 20 MX-28T actuators (6 DOF leg × 2 + 3 DOF arm × 2 + 2 DOF neck) with metallic gears
  • 3 Mbit/s high-speed Dynamixel bus for joint control
  • 3-axis gyro, 3-axis accelerometer, button × 3, detection microphone × 2
  • Versatile functionality (can accept legacy, current, and future peripherals)
  • Price: $12,000


This platform is currently used in the ICRA, RoboCup, FIRA, and Humabot competition. Links below.

DARWIN-OP Humanoid Application Challenge[edit]

Beginning in 2012 ROBOTIS and IEEE ICRA has sponsored the DARWIN-OP Humanoid Application Challenge, held at the ICRA conference. The competition encourages participants to solve novel problems using DARWIN-OP and present their findings at the conference. Winners are selected by a panel of experts as well as popular vote amongst the participants. The winning team has been awarded the DARWIN-OP Deluxe Edition for two consecutive years along with software(s). All finalists are also rewarded.

Year Winning Team Project Description Competition Location
2012 University of Manitoba Ice skating/Ice hockey[15] Minneapolis-St Paul
2013 Georgia Tech Case-based reasoning, learning from demonstration Karlsruhe, Germany
2014 Cancelled Cancelled Hong Kong
2015 Coming Soon Seattle, WA - USA


The DARWIN-OP robot is used by several teams in the RoboCup kids-size competition (humanoid robots 40–60 cm tall). Teams from University of Pennsylvania and Virginia Tech have won first place in the kids-size league using DARwIn-OP robots in 2011, 2012 and 2013.[16]


DARWIN-OP robots are used by some teams in the kids-size HuroCup competition at FIRA. A team from the University of Manitoba won best overall at the 2013 competition using a DARwIn-OP.[17]


Due to its openness and easy maintenance, many researchers favor and hope to create a clone version of their own. DARWIN-OP is currently being used at the labs/universities below :

See also[edit]


  1. ^ ::: ROBOTIS :::
  2. ^ AX-12A, AX-18A, RX-24F, RX-28, RX-64, EX-106+, MX-28)
  3. ^ Sandeep Rai / Jun 22 2011 (2011-06-22). "DARWiN robot to assist disabled by tracking their eye movement". Gizmowatch.com. Retrieved 2011-12-27. 
  4. ^ "Darwin-OP Learns To Play Dance Dance Revolution - IEEE Spectrum". Spectrum.ieee.org. Retrieved 2011-12-27. 
  5. ^ a b "Me And My Robot Page 2 of 2". Forbes.com. 2011-05-23. Retrieved 2011-12-27. 
  6. ^ a b Author Name:  Dennis Hong (2011-05-12). "Robotis DARwIn-OP Raises The Bar | Robot Magazine - The latest hobby, science and consumer robotics, artificial intelligence". Find.botmag.com. Retrieved 2011-12-27. 
  7. ^ "RoboCup 2011 Kid Size: USA / Japan (Final)". YouTube. 2011-07-10. Retrieved 2011-12-27. 
  8. ^ "Robot Soccer Stars Win World Cup Trophy for U.S. - Video". Bloomberg. 2011-09-09. Retrieved 2011-12-27. 
  9. ^ http://www.cs.columbia.edu/~allen/F11/NOTES/RoboCup.pdf
  10. ^ Hornyak, Tim (2011-07-12). "U.S. droids carry the day at 2011 RoboCup finals | Crave - CNET". News.cnet.com. Retrieved 2011-12-27. 
  11. ^ RoMeLa RoboCup 2012: Team DARwIn repeats win at RoboCup in Kid-Size division
  12. ^ "ICRA 2012 Home Page". Icra2012.org. Retrieved 2011-12-27. 
  13. ^ Guillermo Cornejo L. - Grupo Fidalex. "RoboCup Mexico 2012". Robocup2012.org. Retrieved 2011-12-27. 
  14. ^ FIRA (2011-11-22). "FIRA News - [NOTICE] Special offer for FIRA teams". Fira.net. Retrieved 2011-12-27. 
  15. ^ Robotis. "Winner 2012 DARwIn-OP Humanoid Application Challenge". 
  16. ^ University of Pennsylvania. "RoboCup". 
  17. ^ University of Manitoba. "SnoBots win at international robotics competition in Kuala Lumpur". 

External links[edit]