Pishrobot: Hushmand Afzar Robotics


Dynamic Anthropomorphic Robot with Intelligence – Open Platform

Hushmand Afzar is Exclusive distributor of DARwIn-OP in Iran.

DARwIn-OP (Dynamic Anthropomorphic Robot with Intelligence–Open Platform) is an affordable, miniature-humanoid-robot platform with advanced computational power, sophisticated sensors, high payload capacity, and dynamic motion ability to enable many exciting research and education activities.

Standard PC-based Robot with Convenient Interfaces

PC Based DARwIn-OP

High Performance and Advanced Features

  •  Default walking speed: 24.0 cm/sec (9.44 in/sec) 0.25 sec/step - user modifiable gait
  •  Default standing up time from ground: 2.8 sec (from facing down) and 3.9 sec (from facing up) - user modifiable speed
  • Built-in PC: 1.6 GHz Intel Atom Z530 on-board 4GB flash SSD
    (For up-to-date information Check http://sourceforge.net/projects/darwinop)
  •  Management controller (CM-730): ARM CortexM3 STM32F103RE 72MHz
  •  20 actuator modules (6 DOF leg x2+ 3 DOF arm x2 + 2 DOF neck)
  •  Actuators with durable metallic gears (Dynamixel RX-28M)
  •  Self-maintenance kit (easy to follow steps and instructions)
  •  Standby mode for low power consumption
  •  3Mbps high-speed Dynamixel bus for joint control
  •  Battery (30 minutes of operations), charger, and external power adapter
    (Battery can be removed from robot without shutting down by plugging in external power before removal)
  •  Versatile functionality (can accept legacy, current, and future peripherals)
  •  3-axis gyro, 3-axis accelerometer, button x3, detection microphone x2

Efficient and Versatile Modular Configuration

Modular DARwIn-OP

Simple and Clean Architecture

DARwIn-OP Architecture

Open Platform (Hardware and Software)

  •  Mechanics Information
    (Dimensions, Kinematics, Dynamics, CAD data)
  • Electronics Information
    (Controllers, Sub B/Ds, Schematics, Part Information)
  • Software Information
    (Development Environment, Framework, Source Code)
  • Management Information
    (Detailed Assembly Diagrams, User Manintenance Guide)
  • Community Resources
    (User-developed Code, Various Application Examples)
DARwIn-OP & Source Forge http://sourceforge.net/projects/darwinop

Dimensions and Weight

DARwIn-OP Dimensions

Special Dynamixel (RX-28M) for DARwIn-OP

DARwIn-OP Dynamixel


  •  Specialized robot all-in-one actuator for robotic applications
  • High speed bus and simple wiring
  • Various models, mechanical links, and accessories


  •  Maxon RE-Max customized DC motor
  • 193:1 reduction ratio
  • Up to 3 Mbps buffered TTL interface
  • User programmable PID Gain
  • Up to 4096 resolution absolute encoder