Introduction of HUBO2 이경호 2012.07.21. 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.

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Presentation transcript:

Introduction of HUBO2 이경호

Hubo Lab KAIST 휴머노이드 로봇 연구센터 –KHR-1(2002.1~ ) –KHR-2(2003.1~ ) –KHR-3, HUBO (2004.1~ ) –Albert HUBO (2005.3~ ) –HUBO FX-1(2005.9~ ) –HUBO 2 ( ~)

KHR-2(2003.1~ )

HUBO FX-1(2005.9~ )

HUBO 2 ( )

Head: 3 DOF Shoulder: 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 Upper Body: 25 DOF Lower Body: 13 DOF Lower Body: 13 DOF Total: 38 DOF Total: DOF of Joint

CCDCamera(1EA CCD Camera(1EA ) Actuators: BLDC and DC Motor With Harmonic Reduction Gear 3-Axis F/T sensor Inertial Sensor 3-Axis F/T Sensor with 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

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