Introduction of HUBO2

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 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)

DOF of Joint Lower Body: 13 DOF Head: 3 DOF Shoulder: 3 DOF Torso: 1 DOF Elbow: 1 DOF Hip: 3 DOF Wrist: 2 DOF Knee: 1 DOF Hand: 5 DOF Ankle: 2 DOF Upper Body: 25 DOF Total: 38 DOF

Components of HUBO2 CCDCamera(1EA) Main Computer Speakers Battery (Li-Polymer) 3-Axis F/T sensor Motor Servo Controller (18 EA) Inertial Sensor Actuators: BLDC and DC Motor With Harmonic Reduction Gear 3-Axis F/T Sensor with Tilt Sensor

Actuator • 전기 모터 기반 • Position Control 방식

Biped Walking • Dynamic Model • Motion Capture Data

Stretched Leg Walking

Running

Whole-body Motion Control

Thanks

Introduction of HUBO2

Introduction of HUBO2

Presentation Transcript

Introduction of J2ME

Overview of Introduction

Introduction of SBAR

Introduction of Project

Introduction of

Introduction of

Introduction of SST

Introduction of Humdrum

Introduction of CMVS

Introduction of Panelists

Introduction of

Introduction of Kerberos

Summary of Introduction

Introduction of Pediatrics

Introduction of KAFIS

Introduction of Weka

Introduction of Android

Introduction of DowaGroup

Introduction of tenses

Introduction of