Parece que en Robotis han estado preparando a conciencia las novedades:

Web informativa/colaborativa

Componentes y funciones del nuevo kit premium

Desde las páginas koreanas nos llega esta interesante imagen con el contenido del nuevo kit premium,

Una de las novedades mas inesperadas y agradables del nuevo Bioloid Premium es el nuevo módulo de sensores denominado AX-S20 o "Balance Sensor" integrado en el bus Dynamixel que conviene tener claro de que se trata. A la vista de los parámetros que se pueden parametrizar para S20 en el RoboPlus Task Editor que sustituye el Behavior Control Program en el nuevo software RoboPlus...:



...parece que se trata por una parte de 3 sensores de aceleración (acelerómetros) para los 3 ejes X, Y y Z, y por otra parte un sensor de dirección, es decir un sensor magnetómetro (brújula) para detectar los ángulos respecto los ejes X e Y mas un inclinómetro para detectar el ángulo respecto la vertical del robot. Las aplicaciones avanzadas que permite esto para los robots autónomos (no radiocontrolados) son innumerables.

Aunque pensándolo mejor los ángulos X e Y quizás pueden ser respecto el robot y no respecto el norte, por lo que no habría magnetómetro sinó que detecteriamos los 2 ángulos X e Y de la proyección sobre el plano horizontal del vector que forma la inclinación del robot en el espacio tridimensional. Es decir, el S20 estaría compuesto en total de 3 inclinómetros y 3 acelerómetros lo cual sería perfecto para mantener la estabilidad y el equilibrio del robot ante cualquier error de desviación en cualquier dirección del espacio tridimensional.

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Aquí será uno de los primeros sitios del mundo donde se comercializará Bioloid Premium Kit

Al margen de mis especulaciones, Limor de Robosavvy dice esto del nuevo módulo de sensores AX-S20:

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There's a new IMU module called AX-S20 (i'll quote some info about it below from the upcoming construction blog). The new controller (CM-510) is based on ATMega2561 and the controller pack exposes what seem to be 6 i/o ports. I don't know yet if the I2C pins are among them.
AX-S1 is not included but instead they include 3 directional analog distance sensors that can be mounted on different parts of the robot (using Ollo parts) and also a Sharp distance sensor that can be mounted on the chest. Don't think there's sound and light (although the infrared distance sensors may double as light sensors). making a list of questions to Robotis as i'm writing this. The documentation we received was minimalistic. This is the only reason we were told why the kit is still not available for sale.

The AS-S20 is a Bioloid compliant IMU (Intertial Moment Unit) module that incorporates 3 accelertion and 3 magnetic sensors in one chip. It is an unconventional solution to robotic IMU (we are used to gyros) but the result is impressive and surely will become a standard given its overall excellent value. The board is Bioloid Dynamixel compliant meaning that it has one MCU chip of type ATMega8 that implements the Dynamixel protocol over its UART link and talks to the sensor chip over SPI. The sensor chip AMS0805WAH from Amosense (Korean company) is composed of 3-Axis Magnetic sensor, 3-Axis Acceleration sensor, and a custom ASIC that provides sophisticated data calibration and facilitates a high-level communications protocol over SPI. It allows highly accurate motion detection with geomagnetic direction and tilting data. The biggest advantage of AMS0805WAH is the exclusive embedded calibration algorithm called iRAC(Intelligent Real Time Automatic Calibration) which eliminates the need for initial calibrations and supports precise calculation of motion data under all environments. It is widely used and applied in handheld devices such as cellular phones (orientation), navigation applications (“dead reckoning” where gps is not enough or doesn't work), 3-D pointing device, game controllers and even Calorie counters.
Some of the chip's features:
- Wide Magnetic Measurable Range: +/- 10Gauss
- Minimum Measurable Magnetic field: 10nT (0.1mGuass)
- Maximum sampling rate: 30Hz
- Azimuth & Roll/Pitch Resolution: 1 degree
- Wide Interface Voltage: 1.6Volt ∼5.0Volt
- Low power: 6.5mA in active mode
The new software that comes with the Premium Kit allows to monitor the signal coming from the sensor and it seems to be pretty stable, reactive and with almost no noise. Because it measures the magnetic field in 3 axis, it is able to precisely provide 3D rotation speed tensor as do the more expensive solid state 3-axis gyros, but in addition it can also provide the absolute angle relative to Earth's magnetic North without accumulative error. The resolution of the chip is 1 degree, which is fine for robotic applications. The sampling rate is 30Hz which is fast enough for navigation and probably also for stabilization [[ to be confirmed with Robotis ]].

Adjunto del manual de montaje (Quick Start Guide) del Bioloid Premium Kit el detalle del montaje de los 3 modelos de robots humanoides con distintas configuraciones en las caderas y distinto número de servos:

-18 DOF, Weight : 1.8kgs, Height : 39.5cm Stable omni direction walking
-16 DOF, Weight : 1.6 kgs, Height : 37cm Capable of changing direction while walking. 2 Dynamixels used for other purpose.
-16 DOF, Weight : 1.6 kgs, Height : 38.6cm Capable of walking sideways while walking. 2 Dynamixels used for other purpose.

Ya he upgradeado mi Bioloid Comprehensive Kit: