Advertisement

History of HUBO, Korean Humanoid Robot

  • Jung-Woo Heo
  • Jungho Lee
  • In-Ho Lee
  • Jeongsoo Lim
  • Jun-Ho Oh
Living reference work entry

Abstract

HUBO, a trailblazer in humanoid robots, was developed in the HUBO Laboratory, which is a humanoid robot research center in KAIST, Korea. We developed HUBO that can complete such tasks as walking and running despite limited funds and short research time. Many other robots have also been developed in the HUBO Lab. since the development of the first version of HUBO in 2002. The robots developed are KHR-1, KHR-2, KHR-3 (HUBO), Albert HUBO, FX-1, DRC-HUBO, and DRC-HUBO+. Especially, DRC-HUBO+ is a winning robot in the DARPA Robotics Challenge Finals 2015. In this chapter, we describe the development of the HUBO series over the last 10 years and explain the core technology used for these robots.

Keywords

Humanoid robot Robot Bipedal robot Bipedal walking Walking Control ZMP Walking pattern Robot platform Hubo KAIST Hubo lab Hubo2 DRC-Hubo Albert-Hubo FX-1 Giant Robot 

References

  1. 1.
    J.H. Kim, S.W. Park, I.W. Park J.H. Oh, Development of a humanoid biped walking robot platform KHR-1 – initial design and its performance evaluation, in Proceedings of The Third IARP International Workshop on Humanoid and Human Friendly Robotics Tsykyba, Japan, 2002, pp. 14–21 12Google Scholar
  2. 2.
    J.H. Kim, J.H. Oh, Torque feedback control of the humanoid platform KHR-1, in IEEE-RAS International Conference on Humanoid Robots, Karlsruhe/Munich, 2003Google Scholar
  3. 3.
    J.-H. Kim, J.-H. Oh, Realization of dynamic walking for the humanoid robot platform KHR-1. J. Adv. Robot. 18(7), 749–768 (2004)CrossRefGoogle Scholar
  4. 4.
    I.W. Park, J.Y. Kim, S.W. Park, J.H. Oh, Development of humanoid robot platform KHR-2(KAIST humanoid robot-2). Int. J. Humanoid Rob. 2(4), 519–536 (2005), 12CrossRefGoogle Scholar
  5. 5.
    J.Y. Kim, I.W. Park, J.H. Lee, M.S. Kim, B.K. Cho, J.H. Oh, System Design and Dynamic Walking of Humanoid Robot KHR-2, ICRA 2005, Barcelona, pp. 1443–1448, 2005, 4Google Scholar
  6. 6.
    J.Y. Kim, I.W. Park, J.H. Oh, Experimental realization of dynamic walking of the biped humanoid robot KHR-2 using zero moment point feedback and inertial measurement. Adv. Robot. 20(6), 707–736 (2006)CrossRefGoogle Scholar
  7. 7.
    J.Y. Kim, I.W. Park, J.H. Lee J.H. Oh, Experiments of Vision Guided Walking of Humanoid Robot, KHR-2, Humanoid 2005, Tsukuba, 2005, pp. 135–140, 12Google Scholar
  8. 8.
    I.W. Park, J.Y. Kim, J. Lee, J.H. Oh, Mechanical design of the humanoid robot platform, HUBO. Adv. Rob. 21(11), 1305–1322 (2007), 8Google Scholar
  9. 9.
    I.W. Park, J.Y. Kim, J. Lee, J.H. Oh, Online free walking trajectory generation for biped humanoid robot KHR-3 (HUBO), in IEEE International Conference on Robotics & Automation, Serial. 1, Florida, 2006, pp. 1231–1236, 5Google Scholar
  10. 10.
    I.-W. Park, J.-Y. Kim, J.H. Oh, Online walking pattern generation and its application to a biped humanoid robot – KHR-3(HUBO). Adv. Robot. 22(2–3), 159–190 (2008)CrossRefGoogle Scholar
  11. 11.
    J.-H. Oh, D. Hanson, W.S. Kim, I.Y. Han, J.Y. Kim, I.W. Park, Design of android type humanoid robot albert hubo, in Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, 2006, pp. 1428–1433Google Scholar
  12. 12.
    I.-W. Park, J.-Y. Kim, B.-K. Cho, J.-H. Oh, Control hardware integration of a biped humanoid robot with an android head. Robot. Auton. Syst. 56(1), 95–103 (2008)CrossRefGoogle Scholar
  13. 13.
    J. Lee J. Y. Kim, I. W. Park, B. K. Cho, M. S. Kim, M. I. Kim, J. H. Oh, Development of a humanoid robot platform HUBO FX-1, in SICE-ICASE International Joint Conference’06,, Busan, Korea, 2006, pp. 1190–1194Google Scholar
  14. 14.
    J.Y. Kim, J. Lee, J.H. Oh, Experimental realization of dynamic walking for a human-riding biped robot, HUBO FX-1. Adv. Robot. 21(3–4), 461–484 (2007), 3CrossRefGoogle Scholar
  15. 15.
    J.Y. Kim, J. Lee, I.W. Park, J.H. Oh, Vibration reduction control for human-riding biped robot HUBO FX-1, in 4th IFAC Symposium on Mechatronic Systems, Mechatronics 2006, Serial. 1, Heidelberg, 2006, pp. 638–643CrossRefGoogle Scholar
  16. 16.
    J.-Y. Kim, I.-W. Park, O. Jun-Ho, Walking control algorithm of biped humanoid robot on uneven and inclined floor. J. Intell. Robot. Syst. 48, 457–484 (2007)CrossRefGoogle Scholar
  17. 17.
    B.K. Cho, J.H. Oh, Controller design and experimental approach on the dynamic walking on the spot in planar biped robot, in IEEE-RAS International Conference of Humanoid Robots, Serial. 1, Pittsburgh, 2007Google Scholar
  18. 18.
    B.K. Cho, J.H. Oh, Running pattern generation with a fixed point in a 2D planar biped. Int. J. Humanoid Rob. 6(2), 241–264 (2009), 6CrossRefGoogle Scholar
  19. 19.
    B.K. Cho, S.S. Park, J.H. Oh, Controllers for running in the humanoid robot, HUBO, in 2009 IEEE-RAS International Conference on Humanoid Robots, Paris, 2009Google Scholar
  20. 20.
    M.S. Kim, I.W. Park, J.Y. Kim, J.H. Oh, Stretch-legged walking in sagittal plane, in IEEE-RAS International Conference of Humanoid Robots, Serial. 1, Pittsburgh, 2007, 11Google Scholar
  21. 21.
    M.S. Kim, I.H. Kim, S.S. Park, J.H. Oh, Realization of stretch-legged walking of the humanoid robot, in 2008 IEEE-RAS International Conference on Humanoid Robots, Dae-Jeon, 2008Google Scholar
  22. 22.
    M.-S. Kim, J.-H. Oh, Posture control of a humanoid robot with a compliant ankle joint. Int. J. Humanoid Rob. 7(1), 5 (2010)CrossRefGoogle Scholar
  23. 23.
    J.H. Lee, J.H. Oh, Biped walking pattern generation using reinforcement learning. Int. J. Humanoid Rob. 6(1) 2009, 1Google Scholar
  24. 24.
    I. Kim, J.H. Oh, Inverse kinematic control of humanoids under joint constraints. Int. J. Adv. Robot. Syst. 10, 74 (2013)MathSciNetCrossRefGoogle Scholar
  25. 25.
    J.W. Heo, J.H. Oh, Biped Walking Pattern Generation Using an Analytic Method for a Unit Step with a Stationary Time Interval between Steps, Industrial Electronics, IEEE Transactions on 62.2, 2015, pp 1091–1100CrossRefGoogle Scholar
  26. 26.
    J. Lim, J.H. Oh, Backward ladder climbing locomotion of humanoid robot with gain overriding method on position control. J. Field Rob. 33(5), 687–705 (2015)CrossRefGoogle Scholar
  27. 27.
    I. Lee, O. Jun-Ho, Humanoid posture selection for reaching motion and a cooperative balancing controller. J. Intell. Robot. Syst. 81(3–4), 301–316 (2015)Google Scholar

Copyright information

© Springer Science+Business Media B.V. 2017

Authors and Affiliations

  • Jung-Woo Heo
    • 1
  • Jungho Lee
    • 1
  • In-Ho Lee
    • 2
  • Jeongsoo Lim
    • 1
  • Jun-Ho Oh
    • 2
  1. 1.Department of Humanoid ResearchRainbow RoboticsDeajeonSouth Korea
  2. 2.Division of Mechanical EngineeringSchool of Mechanical, Aerospace & Systems Engineering, KAISTDaejeonSouth Korea

Personalised recommendations