project specification

Hubo Humanoid Robot

Huo is a biped walking humanoid robot. The inside frame is composed of aluminum alloy and its exterior is composite plastic. A lithium polymer battery located inside of HUBO allows the robot to be run for nearly 90 minutes without an external power source. All electrical and mechanical parts are located in the body, and the operator can access HUBO using wireless communications. HUBO can walk forward, backward, sideways, and it can turn around. Its maximum walking speed is 1.25km/h and it can walk on even ground or on slightly slanted ground.

Korea Advanced Institute of Science and Technology

Specifications

Weight	55	kg
Height	1.25	m
Degrees of freedom (DOF)	41
Walking speed	0 ~ 1.25	km/h
Walking cycle, stride	0.7 ~ 0.95	s, (0 ~ 64 cm)
Grasping force	0.5	kg/finger
Actuator	Servomotor + harmonic reduction gear
Control unit	Walking control unit, servo control unit, sensor u
Sensors	Foot	3-axis force torque sensor; accelerometer
	Torso	Inertial sensor system
Power section	Battery	24 V - 20 Ah (Lithium polymer)
	External power	24 V (battery and external power changeable)
Operation section	Laptop computer with wireless LAN
Operating system	Windows XP and RTX

Overview

The inside frame is composed of aluminum alloy and its exterior is composite plastic. A lithium polymer battery located inside of HUBO allows the robot to be run for nearly 90 minutes without an external power source. All electrical and mechanical parts are located in the body, and the operator can access HUBO using wireless communications. HUBO can walk forward, backward, sideways, and it can turn around. Its maximum walking speed is 1.25km/h and it can walk on even ground or on slightly slanted ground.

HUBO has enough degrees of freedom (DOF) to imitate human motions. In particular, with five independently moving fingers, it can imitate difficult human motions such as sign language for deaf people. Additionally, with its many sensors, HUBO can dance with humans. It has two CCD cameras in its head that approximate human eyes, giving it the ability to recognize human facial expressions and objects. It can also understand human conversation, allowing it to talk with humans.

References

Development of Biped Humanoid Robots at the Humanoid Robot Research Center, Korea Advanced Institute of Science and Technology (KAIST).

Overall description of the project, including mechanical designs, hardware control system, and the development of an "Albert Einstein" version of the robot.

I. Park, J. Kim, J.Lee, et al. - Chapter in book: Humanoid Robots, Human-like Machines, June 2007.