Robot Control
Experimental Device
angel KIT CE10

Embedded Systems
Motor with friction compensation
Smooth Robot Control

The paradigm of robot control is shifting The paradigm of robot control is shifting from position mode control, which reduces tracking error based on specified angle/position trajectories, to force mode control, which precisely generates force/torque to adapt to complex conditions and environments. Wearable robots, in particular, represent a prime example of force mode control systems that require precise force implementation for natural assistance. Additionally, reinforcement learning-based systems also necessitate force mode control, as the dynamic difference (Sim2Real Gap) between simulation and reality must be minimized. Are you interested in learning and using this evolving robot control paradigm in educational processes? Angel Robotics provides control experiment devices for such purposes.

Feature 01

Robot Control Experimental Device with reinforcement learning


To allow direct experience and experimentation with force mode control systems and controllers based on artificial intelligence, we offer the control experiment device (angel KIT CE10).
angel KIT CE10 features a leg-shaped structure with a pair of Angel Robotics' wearable robot actuators (angel KIT AM10) and motor drivers (angel KIT MD10) linked together, with the capability to attach additional weights at the end-effector. It also includes a high-performance AI module, enabling the implementation of artificial neural network algorithms.




Feature 02

What types of control learning and practical applications can be achieved with angel KIT CE10?


  • Robot joint control based on embedded systems
  • Actuator control interacting with sensors
  • Joint trajectory implementation using position control
  • Resistance sensation reduction in joint movements through gravity compensation control
  • Smooth robot control via impedance control

Product Features

  • 01
    Embedded

    Systems

    Robot joint control based on embedded systems

  • 02
    Exceptional Interconnectivity

    Actuator control that interacts with sensors

  • 03
    Joint Trajectory Implementation

    Implementation of joint trajectories
    using position control

  • 04
    Reduction of

    Resistance Sensation

    Reduction of resistance sensation in joint movements through gravity compensation control

  • 05
    Smooth Control

    Smooth robot control via impedance control

Product Configuration

Product Details

Robot Size Robot Size 28 * 65 * 49 cm
Weight 16 kg
Joint Hip Flexion 130˚
Hip Extension 30˚
Knee Flexion 120˚
Knee Extension 0˚
System
Specification		 Power 48V, 4000mAh with Battery
Application Processor 21 TOPS AI, GPU with 48 Tensor Cores, ARMv8.2 8-core CPU
Micro Controller 32bit ARM M7
Storage eMMC 16GB, SSD 128GB
Wireless 11ac DBDS, BT5.0
Wired CAN-FD
IMU 2EA
Encorder 4EA
Thermal Sensors 2EA
USB Type-C, Type-A : 2EA
Video HDMI 2.0
Audio Stereo
Display LED for BAT. Level
Button Power
SW support Application Processor Ubuntu
Micro Controller Non-RTOS with C
Control Input Support @ Windows PC
Actuator Size and Weight Ø85x55mm, 700g
Max. Torque 15Nm @180 RPM
Max. Power 200W

Privacy policy

Privacy Policy for Angel Robotics Co., Ltd. (hereinafter referred to as the "Company") is established and disclosed to protect the personal information of data subjects in accordance with Article 30 of the Personal Information Protection Act and to promptly and smoothly handle related complaints. The following is the translation of the privacy policy:


Article 1 (Purpose of Personal Information Processing)
The Company processes personal information for the following purposes. The processed personal information will not be used for any other purposes than the following, and if the purpose of use is changed, separate consent will be obtained in accordance with Article 18 of the Personal Information Protection Act.
  1. Providing answers and managing inquiries from customers on the website
  2. Accepting resumes on the website
Article 2 (Processing and Retention Period of Personal Information)
  1. ①The Company processes and retains personal information within the period specified by law or within the period of consent obtained from the data subject at the time of collection.
  2. ② The processing and retention periods are as follows:
    1. Within 1 year from the date of customer inquiry on the website
    2. Within 1 week from the date of completion of recruitment for resumes submitted on the website
Article 3 (Provision of Personal Information to Third Parties) Not applicable
Article 4 (Outsourcing of Personal Information Processing) Not applicable
Article 5 (Rights and Obligations of Data Subjects and Methods of Exercise)
  1. ①Data subjects may exercise the following personal information protection rights with respect to the Company at any time:
    1. Request for access to personal information
    2. Request for correction in case of errors
    3. Request for deletion
    4. Request for suspension of processing
  2. ②The exercise of rights under paragraph 1 may be made to the Company in writing, by telephone, or by email, and the Company will take necessary measures to respond promptly.
  3. ③If a data subject requests correction or deletion of personal information due to errors, the Company will not use or provide the personal information until the correction or deletion is completed.
  4. ④The rights under paragraph 1 may be exercised through a legal representative or an authorized agent of the data subject. In this case, the data subject must submit a power of attorney according to the format specified in Annex 11 of the Enforcement Rules of the Personal Information Protection Act.
  5. ⑤The data subject must not infringe upon the personal information and privacy of oneself or others in violation of the Personal Information Protection Act and other relevant laws and regulations.
Article 6 (Personal Information Items Processed by the Company) The Company processes the following personal information items:
  1. Providing answers and managing inquiries from customers on the website
    • Required items: Name, company name (including company URL), contact information (phone number, email address)
    • Optional items: Place of residence, age
  2. Accepting resumes on the website
    • Photo, name, phone number, email address, information provided on the job application form
  3. The following personal information items may be automatically generated and collected during the process of using internet services:
    • IP address, cookies, MAC address, service usage records, visit records, records of improper use, etc.
Article 7 (Destruction of Personal Information)
  1. ①The Company promptly destroys personal information when it becomes unnecessary due to the expiration of the retention period or the achievement of the processing purpose.
  2. ②The procedures and methods of personal information destruction are as follows:
    1. Destruction procedures: The Company selects personal information that has become the subject of destruction, obtains approval from the Company's personal information protection manager, and destroys the personal information.
    2. Destruction methods: Personal information recorded and stored in electronic file format is destroyed to prevent regeneration, using methods such as low-level formatting. Personal information recorded and stored on paper documents is shredded or incinerated.
Article 8 (Security Measures for Personal Information Protection)
The Company takes the following measures to secure the safety of personal information:
  1. Administrative measures: Establishment and implementation of internal management plans, regular employee education, etc.
  2. Technical measures: Access control to personal information processing systems, etc.
Article 9 (Installation, Operation, and Rejection of Automatic Collection Devices for Personal Information)
  1. ①The Company uses 'cookies' to store and retrieve usage information in order to provide individualized customized services to users.
  2. ②Cookies are small pieces of information sent by the server (http) operating the website to the user's computer browser and may be stored on the hard disk of the user's PC computer.
    1. Purpose of using cookies: Cookies are used to track and provide optimized information to users regarding their visits and usage patterns on various services and websites they have visited.
    2. Installation, operation, and rejection of cookies: Users can refuse to save cookies by setting options in the Tools > Internet Options > Privacy menu of their web browser.
    3. However, if cookies are rejected, it may cause difficulties in using customized services.
Article 10 (Personal Information Protection Officer)
  1. ①The Company designates and operates a personal information protection officer to be responsible for overall management of personal information processing and to handle complaints and remedy related to personal information processing. The following is the contact information of the personal information protection officer and the department in charge:

    Personal Information Protection Officer
    • Name: Jonathan Jeong
    • Position: Vice President
    • Contact:
      Phone) 02-6376-5923 E-mail) jojeong@angel-robotics.com
      FAX) 02-6094-0166
    Department in Charge of Personal Information Protection
    • Department: Marketing Team
    • Person in Charge: Hae-kyung Kang
    • Contact:
      Phone) 02-6376-5931 E-mail) hkkang@angel-robotics.com
      FAX) 02-6094-0166

  2. ②Data subjects can contact the personal information protection officer and the department in charge for any inquiries, complaints, or remedies regarding personal information protection related to the Company's services (or business). The Company will respond and handle the inquiries promptly.
Article 11 (Request for Access to Personal Information)
Data subjects may request access to personal information in accordance with Article 35 of the Personal Information Protection Act. Data subjects can make such requests to the following department. The Company will make efforts to promptly process data subjects' requests for access to personal information.

  1. Department for Receiving and Processing Requests for Access to Personal Information
    • Department: Marketing Team
    • Person in Charge: Hae-kyung Kang
    • Contact:
      Phone) 02-6376-5931 E-mail) hkkang@angel-robotics.com
      FAX) 02-6094-0166
Article 12 (Methods of Remedies for Infringement of Rights and Interests)
Data subjects can contact the following organizations for remedies, consultations, etc. regarding personal information infringements:

  1. Personal Information Infringement Report Center (operated by the Korea Internet & Security Agency)
    • Jurisdiction: Report of personal information infringement, request for consultation
    • Website: privacy.kisa.or.kr
    • Phone: 118 (without area code)
    • Address: 3rd Floor, 301-2 Bitgaram-dong, Naju-si, Jeollanam-do, Republic of Korea, Postal Code: 58324
  2. Personal Information Dispute Mediation Committee
    • Jurisdiction: Application for personal information dispute mediation, group dispute resolution (civil resolution)
    • Website: www.kopico.go.kr
    • Phone: 1833 - 6972 (without area code)
    • Address: 4th Floor, Government Seoul Building, 209 Sejong-daero, Jongno-gu, Seoul, Republic of Korea, Postal Code: 03171
  3. Cyber Crime Investigation Unit, Supreme Prosecutors' Office: +82-2-3480-3573 (www.spo.go.kr)
  4. Cyber Safety Bureau, National Police Agency: 182(korea) (http://cyberbureau.police.go.kr)
Article 13 (Changes to the Privacy Policy)
  1. ① This privacy policy is effective from December 25, 2020

E-mail policy