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The first prototype was the KHR-0 (KAIST Humanoid Robot), which  essentially consisted of two legs without an upper body. It 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><ref name="ohmechhubo2007">Oh, et al, "Mechanical Design of the Humanoid Robot Platform, HUBO," 2007.</ref>
The first prototype was the KHR-0 (KAIST Humanoid Robot), which  essentially consisted of two legs without an upper body. It 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><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 research proceeded to develop a second humanoid with a headless torso and two hand-less arms - the KHR-1; it was completed by January of 2002. The purpose of the KHR-1 was demonstrating autonomous bipedal walking that involves real-time motion control through sensory feedback. (This is different from bipedal walking as a playback motion adopted from an offline learning process, and also walking with partial online adjustments.) For practical and efficient engineering, the robot was built at a child-like size of 119&nbsp;cm in height, and it could walk at 0.8km/hr and also 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 research proceeded to develop a bipedal humanoid with a headless torso and two hand-less arms - the KHR-1, which was completed by January of 2002. The purpose of the KHR-1 was demonstrating autonomous bipedal walking that involves real-time motion control through sensory feedback. (This is different from bipedal walking as a playback motion adopted from an offline learning process, and also walking with partial online adjustments.) For practical and efficient engineering, the robot was built at a child-like size of 119&nbsp;cm in height, and it could walk at 0.8km/hr and also 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"/>
 


== Design and engineering principles ==
== Design and engineering principles ==

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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 steadily developed 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]

The first prototype was the KHR-0 (KAIST Humanoid Robot), which essentially consisted of two legs without an upper body. It 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][6]

(GNU) Image: Laurens van Lieshout
Harmonic drive.

The research proceeded to develop a bipedal humanoid with a headless torso and two hand-less arms - the KHR-1, which was completed by January of 2002. The purpose of the KHR-1 was demonstrating autonomous bipedal walking that involves real-time motion control through sensory feedback. (This is different from bipedal walking as a playback motion adopted from an offline learning process, and also walking with partial online adjustments.) For practical and efficient engineering, the robot was built at a child-like size of 119 cm in height, and it could walk at 0.8km/hr and also make right turns.[5][7][8][6]

Design and engineering principles

In order to simulate autonomous walking, the KHR-1 was built without external connections, and it was controlled wirelessly and operated on internal batteries with low level of consumption. Its movements were made by a total of 22 DOFs (degrees of freedom), which were all built with harmonic drives in order to avoid backlash in the gears 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]

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.
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