HUBO Labs
| Hubo | |
|---|---|
| Hangeul | 휴보 |
|
Revised Romanization |
Hyubo |
|
McCune- Reischauer |
Hyubo |
The Humanoid Robot Research Center (HUBO Labs) is an institution founded at KAIST in 1985 which, among other things, deals with the construction of humanoid robots - for example Albert Hubo .
Areas of responsibility of the HUBO Labs
The Hubo Lab researches in two areas:
- In the area of control theory, the focus is on optimal control , neural networks , fuzzy controllers and sliding mode control .
- In the second, experimental area, research is carried out in the field of robotics , for example on bipedally moving robots and the appearance of sensors and systems.
Robots from HUBO Labs
Overview
| Surname | CHR-0 | CHR-1 | CHR-2 | Hubo (KHR-3) | Hubo FX-1 | Albert Hubo | Huboway | Hubo 2 |
|---|---|---|---|---|---|---|---|---|
| Robot type | remote controlled humanoid robot |
remote controlled humanoid robot |
remote controlled humanoid robot |
partially remote controlled humanoid robot |
remote controlled bipedal transport robot |
humanoid robot |
" Segway - Standing Scooter" |
partially remote controlled humanoid robot |
| Start of research | Early 2003 | 09/2004 | ||||||
| completion | 2001 | 01/2002 | Early 2004 | 06/01/2005 | 11/2005 | 2009 | ||
| Size (cm] | 110 | 120 | 120 | 125 | 175 | 137 | 90-130 | 130 |
| Mass [kg] | 29 | 48 | 56 | 56 | 150 | 57 | 45 | |
| Operating time [min] | 90 | 150 | 120-180 | |||||
| Speed [km / h] | 1.25 | 20th | 3.3 | |||||
| Main operating system | DOS | Windows 2000 with RTX |
Windows XP with RTX |
Windows XP with RTX |
Windows XP with RTX |
TI, TMS320F2808 |
||
| Degrees of Freedom (DOFs) | 12 | 21st | 41 | 41 | 12 | 66 | 40 | |
| DOFs - legs (together) | 12 | 12 | 12 | 12 | 12 | 12 | ||
| DOFs - hull | 1 | 1 | 1 | 1 | 1 | |||
| DOFs - Arms (together) | 8th | 12 | 12 | 12 | 14th | |||
| DOFs - hands (together) | 10 | 10 | 10 | 10 | ||||
| DOFs - neck | 2 | 2 | 2 | 3 | ||||
| DOFs - head | 4th | 4th | 29 | |||||
| Website | here |
here , here |
here , here |
here , here |
here , here |
here , here |
Beginnings
The first humanoid robots built by Hubo Labs were only intended to develop a prototype for a walking robot. They had four degrees of freedom and were still remote controlled.
CHR-0
The KHR-1 (abbreviation for K AIST H umanoid R obot platform -1 ), which was completed in 2001, already had advanced 12 degrees of freedom, but these were only in the lower body construction, since it was mainly concerned with great mobility of the legs. He was 110 cm tall and weighed 29 kg.
CHR-1
KHR-1 , which was completed in January 2002, also had 1 degree of freedom in the trunk and an additional 4 per arm. Its dimensions have also been increased compared to the KHR-0. He was now 120 cm tall and had a mass of 48 kg. He could walk stably, making sure that he could only perform human movements (he could neither walk backwards nor turn, but he could climb stairs).
CHR-2
Its successor, the KHR-2 , had a few additional functions. It was the first KAIST robot to be able to carry out some movements independently, but is still partly remote-controlled. Instead of DOS , he ran Microsoft Windows 2000 and, in addition to his arms, could also move his fingers, which he was the first humanoid robot to move 10 independently of each other. Two more degrees of freedom now ensured that he could also move his head, in addition he had 2 degrees of freedom per eye, with the help of which he could move 2 CCD sensors (1 per eye) independently of each other. In addition, he was now able to walk on uneven surfaces compared to his predecessors, but he was no longer able to climb stairs. It was completed in early 2004, was 1.20 m high and weighed 56 kg. You could also communicate with him using language.
Hubo (KHR-3)
The next robot is the humanoid robot HUBO ( Hu manoider Ro bo ter), which was completed in January 2005 and is also known as KHR-3 . For the most part, it had the same properties as the KHR-2, but it had an improved case, ran with Microsoft Windows XP and its batteries lasted longer. It also had a few other improvements. Like his predecessor, he had 2 degrees of freedom per eye, 2 in the neck, 3 per shoulder, 1 per elbow, 2 per hand plus 1 per finger, 1 in the trunk, 3 per hip, 1 per knee and 2 per foot, so in total 41 available. With a height of 1.25 m and a weight of 56 kg, it is roughly the same size as its predecessor.
Hubo cost about $ 1,000,000 to develop, which is significantly less than the $ 300,000,000 that ASIMO cost to develop.
Hubo FX-1
The next robot from Hubo Labs was not a humanoid robot this time, but more like a bipedal replacement wheelchair. The 1.75 m tall and 150 kg heavy transport walking robot has 3 degrees of freedom per hip joint, 1 per knee joint and 2 per foot and can transport people and objects up to 100 kg. It can be steered using a joystick, and it is also equipped with sensors and shock absorbers that make movement a little more pleasant. It also runs with Microsoft Windows XP and can be used, among other things, as a wheelchair replacement, transport robot or the military.
A slightly smaller one, developed and manufactured by Toyota , is the Toyota Mountable , a Toyota Partner Robot .
Albert Hubo
The current humanoid robot at Hubo Labs is Albert Hubo , who can be seen since November 2005. It also works with Microsoft Windows XP , is 1.37 m tall and 57 kg heavy. The operating time is two hours and 30 minutes.
He has just as many degrees of freedom as KHR-3, plus an additional 25 in his face, in which he wears a full-head mask from Albert Einstein . It is flexible, so that Albert Hubo can depict all facial expressions , for example emotions or the appropriate lip movement to reproduce speech. He is the first robot ever with such a human-like full head mask. This is made of frubber , which is also often used in Hollywood for making masks. It was made by Hanson Robotics .
In addition, Albert Hubo can reproduce greeting rituals and walk independently from one point to another. Later, like some other robots, it will help older and needy people in addition to entertaining other people. It is also planned that he will be able to climb stairs at some point.
Huboway
The Huboway is a stand-up electric scooter that resembles a Segway personal transporter . With a maximum speed of 20 km / h, it is just as fast as a Segway. The lead-acid battery allows it to be used for around 2 to 3 hours before it has to be recharged. It is height adjustable, 90 to 130 cm and is driven by 2 direct current electric motors with 1 kW power. The footboard is 34.2 by 36 cm, the turning radius is 0, as with the Segway.
In addition to people, the Huboway can also carry the humanoid robot Hubo. One of the goals of the development is a humanoid robot that moves like a Segway, as the Toyota Rolling is already capable of today .
Hubo 2
Hubo 2 is a new variant of Hubo (KHR-3) released in 2009 , which has even visited Germany ( Hannover Messe 2009). He is 5 cm larger and 11 kg lighter than Hubo, but has "only" 40 degrees of freedom. However, Hubo 2 can run at a speed of up to 3.3 km / h, its walking pace is 1.4 km / h. Like its predecessor, it can grab objects and make greeting gestures (handshakes). In addition, he can "dance" and is proficient in Taijiquan .
Web links
- HUBO Labs (Engl.)
- Hanson Robotics (Engl.)
- http://ornella.iwr.uni-heidelberg.de/ROBOTICSLAB/TEACHING/HUMROB/v09.pdf (PDF file; 156 kB)