Mechanism Design Outline of Hubo
This chapter presents the development of a humanoid robotics platform (DRC-HUBO+). The design concept, hardware parts design, and description of the operating system are included in this chapter. The purpose of DRC-HUBO+ is to perform human tasks and to be used as an R&D platform. To achieve the goal, specific design concepts for DRC-HUBO+ were identified. To impart to the robot the ability to perform human’s tasks, sufficient mobility, manipulability, and power are required; for the robot to be widely used as an R&D platform, modularized joints, a user-friendly operating system, and a relatively low cost were selected as design concepts.
The DRC-HUBO+ platform is based on DRC-HUBO and Hubo2. Compared to the original version, the torque of each joint is increased by high reduction ratio and air-cooling systems. To have sufficient stiffness relative to its weight, it was designed using an exoskeleton structure. And to protect the wires from the external shock, they are not exposed by using hollow shaft and covers. For the vision system, active environmental cognition can be realized using a LADAR sensor and vision cameras equipped on the head. Moreover, for stable mobility, it can be transposed from bipedal walking mode to wheel mode by using two wheels on both knees.
DRC-HUBO+ has a total of 32 degrees of freedom, including 7 degrees of freedom for each arm and 6 degrees of freedom for each leg. DRC-HUBO+ has a solid and light body with a height of 175 [cm] and weight of 80 [kg]. An operating system called PODO, with a Linux kernel and a Xenomai patch, is used in DRC-HUBO+.
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