Pishrobot: Hushmand Afzar Robotics
Open Platform Humanoid Robot

Hushmand Afzar is Exclusive distributor of ROBOTIS OP2 in Iran.

ROBOTIS OP2 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, education and outreach activities.
"ROBOTIS OP2" is a new version of "ROBOTIS OP" that was formerly known as “DARwln-OP".

Standard PC-based Robot with Convenient Interfaces


High Performance and Advanced Features

  •  Default walking speed: 24.0 cm/sec (9.44 in/sec) 0.25 sec/step - user modifiable gait 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 (from facing down) and 3.9 sec (from facing up) - user modifiable speed
  • Built-in PC: Intel Atom N2600 @1.6 GHz dual core, RAM 4GB DDR3, 32GB mSATA
    (For up-to-date information Check http://sourceforge.net/projects/darwinop)
  •  Management controller (CM-740): ARM CortexM3 STM32F103RE 72MHz
  •  20 actuator modules (6 DOF leg x2+ 3 DOF ann x2 + 2 DOF neck)
  •  Actuators with durable metallic gears (DYNAMIXEL MX-28T)
  •  Self-maintenance kit (easy to follow steps and instructions)
  •  Standby mode for low power consumption
  •  1Mbps high-speed Dynamixel bus for joint control
  •  1800mAh LIPO 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


Simple and Clean Architecture

ROBOTIS OP2 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)
ROBOTIS OP2 & Source Forge http://sourceforge.net/projects/darwinop

Dimensions and Weight

ROBOTIS OP2 Dimensions

Visual differences with ROBOTIS 0P

Visual differences with DARwIn-OP
The only difference is the mini HDMI port connector from ROBOTIS OP2. Also, the location of the ports differ from ROBOTIS OP2 with respect to ROBOTIS OP. The Mode, Start, and Reset buttons remain unchanged. ROBOTIS OP2 lacks the 3.5mm microphone and audio jacks. In practice these were not implemented with ROBOTIS OP so the loss of these ports from ROBOTIS OP2 will not affect robot operations.

Advantages of ROBOTIS 0P2 compared to ROBOTIS OP

As stated above the changes come in the form of an updated PC. The advantages of the new PC are listed as follows:
  • user-replaceable SSD
  • user-replaceable RAM
  • increased compute power (obviously)

Special Dynamixel (RX-28T) for ROBOTIS OP2

ROBOTIS OP2 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