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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