HUBO: Difference between revisions

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KHR-0 (KAIST Humanoid Robot) was built in 2001 for the purpose of investigating the specifications of actuators (device that receives electric signal and performs mechanical action), such as power, torque, and speed, and the optimal weight and size of a humanoid robot.<ref name="ohdesignkhr22004">Oh, et al, "Design and Walking Control of the Humanoid Robot, KHR-2(KAIST Humanoid Robot - 2)," 2004.</ref> It essentially consisted of two legs without an upper body.<ref name="ohmechhubo2007">Oh, et al, "Mechanical Design of the Humanoid Robot Platform, HUBO," 2007.</ref>
KHR-0 (KAIST Humanoid Robot) was built in 2001 for the purpose of investigating the specifications of actuators (device that receives electric signal and performs mechanical action), such as power, torque, and speed, and the optimal weight and size of a humanoid robot.<ref name="ohdesignkhr22004">Oh, et al, "Design and Walking Control of the Humanoid Robot, KHR-2(KAIST Humanoid Robot - 2)," 2004.</ref> It essentially consisted of two legs without an upper body.<ref name="ohmechhubo2007">Oh, et al, "Mechanical Design of the Humanoid Robot Platform, HUBO," 2007.</ref>
{{Image|Harmonic drive animation.gif|right|180px|Harmonic drive.}}
{{Image|Harmonic drive animation.gif|right|180px|Harmonic drive.}}
The KHR-1 was completed in January of 2002 with the goal of demonstrating autonomous bipedal walking that involves real-time motion control through sensory feedback. (This is different from bipedal walking as a playback motion obtained from an offline learning process, and also walking with partial online adjustments.) The humanoid design included most of the human body parts with exception of the head and the hands, and its size was child-like and practical, with a standing height of 119&nbsp;cm. Carrying 48&nbsp;kg in weight, it could walk at 0.8km/hr and make right turns.<ref name="ohdesignkhr22004"/><ref name="KHR1specs">[http://hubolab.kaist.ac.kr/KHR-1.php Introduction of KHR-1], Hubo Lab. Date accessed: 2009-02-20.</ref><ref name="ohdevelopkhr12002">Oh, et al, "Development of a Humanoid Biped Walking Robot Platform KHR-1 - Initial Design and Its Performance Evaluation," 2002.</ref><ref name="ohmechhubo2007"/>  
The KHR-1 was completed in January of 2002 with the goal of demonstrating autonomous bipedal walking that involves real-time motion control through sensory feedback. (This is different from bipedal walking as a playback motion obtained from an offline learning process, and also walking with partial online adjustments.) The humanoid design included most of the human body parts with exception of the head and the two hands. Its height was 119&nbsp;cm, a child-like size that would be practical and efficient for engineering. Carrying 48&nbsp;kg in weight, the KHR-1 could walk at 0.8km/hr and make right turns.<ref name="ohdesignkhr22004"/><ref name="KHR1specs">[http://hubolab.kaist.ac.kr/KHR-1.php Introduction of KHR-1], Hubo Lab. Date accessed: 2009-02-20.</ref><ref name="ohdevelopkhr12002">Oh, et al, "Development of a Humanoid Biped Walking Robot Platform KHR-1 - Initial Design and Its Performance Evaluation," 2002.</ref><ref name="ohmechhubo2007"/>  


To simulate autonomous walking, the prototype was not linked externally, and instead it operated from internal batteries with low level of consumption. It had 22 [[degrees of freedom (mechanics)|DOF]]s (degrees of freedom), which were all built with [[harmonic drive]]s to avoid [[backlash (engineering)|backlash]] and to achieve a light, compact design. The DOFs of the different axes in the joints of shoulders, waist, hips, and ankles were merged into intersections in order to attain a simple, [[closed-form solution|closed-form]] solution (that is comprised of well-known mathematical [[function (mathematics)|functions]]) of [[inverse kinematics]], the computation of the robot's movements. The KHR-1's walking movement was based on the [[Zero Moment Point]] trajectory (points of contact on the ground where the total moment of inertia of the active forces equals to 0) predicted based on a simple model of the robot.<ref name="ohdesignkhr22004"/><ref name="ohdevelopkhr12002"/><ref name="ohmechhubo2007"/>
To simulate autonomous walking, the prototype was not linked externally, but instead it operated from internal batteries with low level of consumption. It had 22 [[degrees of freedom (mechanics)|DOF]]s (degrees of freedom), which were all built with [[harmonic drive]]s to avoid [[backlash (engineering)|backlash]] and to achieve a light, compact design. The DOFs of the different axes in the joints of shoulders, waist, hips, and ankles were merged into intersections in order to attain a simple, [[closed-form solution|closed-form]] solution (that is comprised of well-known mathematical [[function (mathematics)|functions]]) of [[inverse kinematics]], the computation of the robot's movements. The KHR-1's walking movement was based on the [[Zero Moment Point]] trajectory (points of contact on the ground where the total moment of inertia of the active forces equals to 0) predicted based on a simple model of the robot.<ref name="ohdesignkhr22004"/><ref name="ohdevelopkhr12002"/><ref name="ohmechhubo2007"/>


The KHR-2 was begun in early 2003 and was complete by the beginning of 2004.<ref name="KHR2specs">[http://hubolab.co.kr/KHR-2.php Introduction of KHR-2], Hubo Lab. Date accessed: 2009-03-09.</ref>
The KHR-2 was begun in early 2003 and was complete by the beginning of 2004.<ref name="KHR2specs">[http://hubolab.co.kr/KHR-2.php Introduction of KHR-2], Hubo Lab. Date accessed: 2009-03-09.</ref>

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(CC) Photo: Min Lee
Albert HUBO.

HUBO is a humanoid robot developed at the Korea Advanced Institute of Science and Technology. The first HUBO, KHR-3, was the culmination of 4 years of research based on three earlier prototypes, KHR-0, 1, and 2, and it was officially unveiled to the public in January 6 of 2005.[1] KHR-3 is physically similar to Honda's ASIMO, weighing 56 kg and standing at a height of 125 cm.[2] Albert HUBO is the second and latest HUBO that features an artificial head of Albert Einstein in place of the previous design resembling a CRT monitor. The name HUBO is short for humanoid robot.[3]

Development History

The first HUBO was developed by mechanical engineering professor Oh Junho and his Ph.D. student team over the course of about 20 years. During much of this time, the HUBO was developed lightly in an amateur approach that resulted in a very low development cost of about $500,000. (In comparison, Honda had spent $300 million on its ASIMO at the time of the KHR-3's completion.)[4]

KHR-0 (KAIST Humanoid Robot) was built in 2001 for the purpose of investigating the specifications of actuators (device that receives electric signal and performs mechanical action), such as power, torque, and speed, and the optimal weight and size of a humanoid robot.[5] It essentially consisted of two legs without an upper body.[6]

(GNU) Image: Laurens van Lieshout
Harmonic drive.

The KHR-1 was completed in January of 2002 with the goal of demonstrating autonomous bipedal walking that involves real-time motion control through sensory feedback. (This is different from bipedal walking as a playback motion obtained from an offline learning process, and also walking with partial online adjustments.) The humanoid design included most of the human body parts with exception of the head and the two hands. Its height was 119 cm, a child-like size that would be practical and efficient for engineering. Carrying 48 kg in weight, the KHR-1 could walk at 0.8km/hr and make right turns.[5][7][8][6]

To simulate autonomous walking, the prototype was not linked externally, but instead it operated from internal batteries with low level of consumption. It had 22 DOFs (degrees of freedom), which were all built with harmonic drives to avoid backlash and to achieve a light, compact design. The DOFs of the different axes in the joints of shoulders, waist, hips, and ankles were merged into intersections in order to attain a simple, closed-form solution (that is comprised of well-known mathematical functions) of inverse kinematics, the computation of the robot's movements. The KHR-1's walking movement was based on the Zero Moment Point trajectory (points of contact on the ground where the total moment of inertia of the active forces equals to 0) predicted based on a simple model of the robot.[5][8][6]

The KHR-2 was begun in early 2003 and was complete by the beginning of 2004.[9]

notes

  1. ↑ Birth of Korean Humanoid Robot Marks Brilliance Advance in Korea Robotics, Chosun Ilbo. 2004-12-22.
  2. ↑ Specification of KHR-3 (HUBO), Hubo Lab. Date accessed: 2009-02-24.
  3. ↑ Specification of Albert HUBO, Hubo Lab. Date accessed: 2009-02-24.
  4. ↑ Korean Robotics Steps Into the Future, Lee Sung Kyu and Todd Thacker, OhmyNews International. 2005-01-18.
  5. ↑ 5.0 5.1 5.2 Oh, et al, "Design and Walking Control of the Humanoid Robot, KHR-2(KAIST Humanoid Robot - 2)," 2004.
  6. ↑ 6.0 6.1 6.2 Oh, et al, "Mechanical Design of the Humanoid Robot Platform, HUBO," 2007.
  7. ↑ Introduction of KHR-1, Hubo Lab. Date accessed: 2009-02-20.
  8. ↑ 8.0 8.1 Oh, et al, "Development of a Humanoid Biped Walking Robot Platform KHR-1 - Initial Design and Its Performance Evaluation," 2002.
  9. ↑ Introduction of KHR-2, Hubo Lab. Date accessed: 2009-03-09.
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