Journal of Institute of Control, Robotics and Systems (제어로봇시스템학회논문지)

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Improvement Trend of a Humanoid Robot Platform HUBO2+

휴머노이드 로봇플랫폼 HUBO2+의 기술 개선 추이

  • Lim, Jeongsoo (The School of Mechanical, Aerospace & Systems Engineering, Division of Mechanical Engineering, KAIST) ;
  • Heo, Jungwoo (The School of Mechanical, Aerospace & Systems Engineering, Division of Mechanical Engineering, KAIST) ;
  • Lee, Jungho (Company Limited by Shares RAINBOW) ;
  • Bae, Hyoin (The School of Mechanical, Aerospace & Systems Engineering, Division of Mechanical Engineering, KAIST) ;
  • Oh, Jun-Ho (The School of Mechanical, Aerospace & Systems Engineering, Division of Mechanical Engineering, KAIST)
  • 임정수 (카이스트 기계항공시스템학부) ;
  • 허정우 (카이스트 기계항공시스템학부) ;
  • 이정호 (주식회사 레인보우) ;
  • 배효인 (카이스트 기계항공시스템학부) ;
  • 오준호 (카이스트 기계항공시스템학부)
  • Received : 2014.01.24
  • Accepted : 2014.02.03
  • Published : 2014.03.01
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Abstract

This paper covers improvement of the humanoid robot platform HUBO2, known as the HUBO2+. As a necessity of the growth of the humanoid platform, a robust, reliable and user friendly platform is needed. From this standpoint, HUBO2+ is the most improved humanoid robot platform in the HUBO series. The mechanical design has been changed to increase the movable range and to stop joint compulsion. Additionally, all of the electrical parts are re-designed to be un-breakable in an unexpected situation. A smart power controller with robot status check panel is attached on the back. Additionally, a diagnosis tool, the HUBO-i, has been developed. Moreover, each joint motor controller of HUBO2+ has a Protection Function and a PODO system is provided for handling the robot easily.

Keywords

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