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. KHR-3 is physically similar to Honda's ASIMO, weighing 56 kg and standing at a height of 125 cm. 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.

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, HUBO was developed lightly in an amateur approach that resulted in a very low development cost of about $500,000 compared to the $300 million that Honda had spent on ASIMO at the time of KHR-3's completion.

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. It essentially consists of two legs and lacks the entire upper body.

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 with partial online adjustments.) It roughly resembles a human but without a head and both hands, and it and it can walking at 0.8km/hr and make right turns. To simulate autonomous walking, the prototype is not linked externally and operates from internal batteries instead. consuming less than 100W during standby and around 150~240W when walking. For practicality and efficiency, robot is 119 cm in height, deemed and weighs 48 kg. It has 22 DOFs (degrees of freedom) - 12 for the lower limbs, 8 for the arms, and 2 for the waist. The DOFs of 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. All the joints were built with harmonic drives for zero backlash and light, compact design. The KHR-1's walking movement is 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) that is calculated with a simple model of the robot.

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