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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 ).

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Introduction of HUBO2

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  1. Introduction of HUBO2 이경호 2012.07.21

  2. 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~)

  3. KHR-2(2003.1~2003.12)

  4. HUBO FX-1(2005.9~2006.10)

  5. HUBO 2 (2008. 12)

  6. 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

  7. 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

  8. Actuator • 전기 모터 기반 • Position Control 방식

  9. Biped Walking • Dynamic Model • Motion Capture Data

  10. Stretched Leg Walking

  11. Running

  12. Whole-body Motion Control

  13. Thanks

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