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> Unlike its descendants, KHR-0 is not a humanoid robot because it only consists of two legs and lacks the entire upper body, which was introduced in KHR-1.<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> Unlike its descendants, KHR-0 is not a humanoid robot because it only consists of two legs and lacks the entire upper body, which was introduced in KHR-1.<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. It roughly resembles a human in terms of shape and movement, except for its lacking two hands and a head. It walks at 0.8km/hr, with the ability to turn to the right.<ref name="ohdesignkhr22004"/> It weighs 48&nbsp;kg and has a child-like height of approximately 119&nbsp;cm,<ref name="KHR1specs">[http://hubolab.kaist.ac.kr/KHR-1.php Introduction of KHR-1], Hubo Lab. Date accessed: 2009-02-20.</ref> which would be best suited for entertainment and service purposes. KHR-1 was built with the goal of achieving real-time motion control of bipedal walking, as in humans, based on 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 has 22 [[degrees of freedom (mechanics)|DOF]]s (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|closed-form]] solution (that is comprised of well-known mathematical [[function (mathematics)|functions]]) of [[inverse kinematics]], the computation of the robot's movements. All the joints were built with [[harmonic drive]]s for zero [[backlash (engineering)|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.<ref name="ohdevelopkhr12002">Oh, et al, "Development of a Humanoid Biped Walking Robot Platform KHR-1 - Initial Design and Its Performance Evaluation," 2002.</ref>  
The KHR-1 was completed in January of 2002. Except for its lacking two hands and a head, it roughly resembles a human in terms of shape and movement, including walking, at a speed of 0.8km/hr and with the ability to turn to the right.<ref name="ohdesignkhr22004"/> It weighs 48&nbsp;kg and has a child-like height of approximately 119&nbsp;cm,<ref name="KHR1specs">[http://hubolab.kaist.ac.kr/KHR-1.php Introduction of KHR-1], Hubo Lab. Date accessed: 2009-02-20.</ref> which would be best suited for entertainment and service purposes. KHR-1 was built with the goal of achieving real-time motion control of bipedal walking, as in humans, based on 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 has 22 [[degrees of freedom (mechanics)|DOF]]s (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|closed-form]] solution (that is comprised of well-known mathematical [[function (mathematics)|functions]]) of [[inverse kinematics]], the computation of the robot's movements. All the joints were built with [[harmonic drive]]s for zero [[backlash (engineering)|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.<ref name="ohdevelopkhr12002">Oh, et al, "Development of a Humanoid Biped Walking Robot Platform KHR-1 - Initial Design and Its Performance Evaluation," 2002.</ref>  


Because KHR-1 runs on internal batteries and is not wired to an external source, it was designed to operate with less than 100W during standby and around 150~240W when walking.  
Because KHR-1 runs on internal batteries and is not wired to an external source, it was designed to operate with less than 100W during standby and around 150~240W when walking.  

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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, they worked to secure the necessary technologies, including design and manufacturing, without relying on experts. Their amateur approach 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 when KHR-3 was completed.[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] Unlike its descendants, KHR-0 is not a humanoid robot because it only consists of two legs and lacks the entire upper body, which was introduced in KHR-1.[6]

(GNU) Image: Laurens van Lieshout
Harmonic drive.

The KHR-1 was completed in January of 2002. Except for its lacking two hands and a head, it roughly resembles a human in terms of shape and movement, including walking, at a speed of 0.8km/hr and with the ability to turn to the right.[5] It weighs 48 kg and has a child-like height of approximately 119 cm,[7] which would be best suited for entertainment and service purposes. KHR-1 was built with the goal of achieving real-time motion control of bipedal walking, as in humans, based on 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 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.[8]

Because KHR-1 runs on internal batteries and is not wired to an external source, it was designed to operate with less than 100W during standby and around 150~240W when walking.

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 Oh, et al, "Design and Walking Control of the Humanoid Robot, KHR-2(KAIST Humanoid Robot - 2)," 2004.
  6. ↑ 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. ↑ Oh, et al, "Development of a Humanoid Biped Walking Robot Platform KHR-1 - Initial Design and Its Performance Evaluation," 2002.
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