1. Introduction of HUBO2 이경호 2012.07.21

2. Hubo Lab KAIST 휴머노이드 로봇 연구센터 –KHR-1(2002.1~2002.12) –KHR-2(2003.1~2003.12) –KHR-3, HUBO (2004.1~2004.12) –Albert HUBO (2005.3~2005.10) –HUBO FX-1(2005.9~2006.10) –HUBO 2 (2008. 12~)

3. KHR-2(2003.1~2003.12)

4. HUBO FX-1(2005.9~2006.10)

5. HUBO 2 (2008. 12)

6. Head: 3 DOF Shoulder: Elbow: 1 DOF Wrist: 2 DOF Hand: 5 DOF Torso: 1 DOF Hip: 3 DOF Knee: 1 DOF Ankle: 2 DOF Upper Body: 25 DOF Upper Body: 25 DOF Lower Body: 13 DOF Lower Body: 13 DOF Total: 38 DOF Total: DOF of Joint

7. CCDCamera(1EA CCD Camera(1EA ) Actuators: BLDC and DC Motor With Harmonic Reduction Gear 3-Axis F/T sensor Inertial Sensor 3-Axis F/T Sensor with Tilt Sensor Speakers Main Computer Battery (Li-Polymer) Motor Servo Controller (18 EA) Components of HUBO2

8. Actuator 전기 모터 기반 Position Control 방식

10. Biped Walking Dynamic Model Motion Capture Data

11. Stretched Leg Walking

12. Running

13. Whole-body Motion Control

14. Thanks