Introduction of HUBO2

이경호2012.07.21

Hubo Lab

• KAIST 휴머노이드 로봇 연구센터– KHR-1(2002.1~2002.12)– KHR-2(2003.1~2003.12)– KHR-3, HUBO (2004.1~2004.12)– Albert HUBO (2005.3~2005.10)– HUBO FX-1(2005.9~2006.10)– HUBO 2 (2008. 12~)

KHR-2(2003.1~2003.12)

HUBO FX-1(2005.9~2006.10)

HUBO 2 (2008. 12)

Head:3 DOF

Shoulder:3 DOF

Elbow:1 DOF

Wrist:2 DOF

Hand:5 DOF

Torso:1 DOF

Hip:3 DOF

Knee:1 DOF

Ankle:2 DOF

Upper Body:25 DOF

Lower Body: 13 DOF

Total: 38 DOF

DOF of Joint

CCD Camera(1EA)

Actuators:BLDC and DC Motor

With Harmonic Reduction Gear

3-Axis F/T sensor

Inertial Sensor

3-Axis F/T Sensorwith Tilt Sensor

Speakers

Main Computer

Battery (Li-Polymer)

Motor Servo Controller (18 EA)

Components of HUBO2

Actuator

• 전기 모터 기반

• Position Control 방식

Biped Walking

• Dynamic Model

• Motion Capture Data

Stretched Leg Walking

Running

Whole-body Motion Control

Thanks