[AiboHack - Boneyard] RoboSapien V2 Guts http://www.aibohack.com/robosap/inside_v2.

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RoboSapien V2 Guts

I am focusing on the electronics in the RoboSapienV2, and in particular the newer technology. Check the RoboSapien BBS. I assume other people
will post photos of the motors, skeleton structure etc.
WARNING: photos below are of one of the early RSV2 robots. Current models have significant differences.

The Camera Board:

Black thing is the small color camera (brand model not visible). Gold colored things below are the 3 IR transmitters (the center one and two side
ones set at different angles). The big chip is Sunplus digital camera chip (Sunplus SPCA 563B).

Bottom side of board:

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29LV400 512KB flash ROM to handle the camera firmware. Smaller chips is ATMEL 93C46 (128 Byte E2PROM).
Notice the unattached 4 pin header (J2) in the upper right. Also notice the 2 test points on top, and 3 test points on bottom. Possible JTAG for
programming the flash chip.

The Head Connector Board:

Takes the sensor components in the head, and wires down (through the neck) to main board below for sensor input signals.
Not very interesting for a PCB. More interesting is what is plugged in:

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2 Blue LEDs for the eyes (controlled individually), diffused through square eyepieces
Little motor for turning the eyes (I guess that's the "12th" motor)
Two microphones in the ears for stereo hearing
Two IR detecters in the ears (for picking up remote control)
One IR detecters in the mouth (for obstacle/distance detection, using gold colored IR transmitters by the camera)

The Driver Board:

The driver board is sitting on top. 44 transistors that (I assume) make up 11 H-Bridges to control the 11 main motors. In V1, they had a dedicated
driver chip. Connects to the main board through two header/connectors on top.

The Main Board:

The main board is under the driver board in the above photo. Under the driver board are some capacitors and adjustable variable resistors (not
shown). On the backside of the main board are two chip carriers holding an epoxy blob. I assume these are the two CPUs (guessing one for logic,
one for sound samples). Here's a poor photo (not much to see, move along...).

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