Development of platform and dynamic walking control for biped humanoid robot

Abstract

The Korea Advanced Institute of Science and Technology (KAIST) humanoid robot - 1 (KHR-1) was developed for the purpose of researching the walking action of bipeds. KHR-1, which has no hands or head, has 21 degrees of freedom (DOF): 12 DOF in the legs, 1 DOF in the torso, and 8 DOF in the arms. The second version of this humanoid robot, KHR-2, (which has 41 DOF) can walk on a living-room floor; it also moves and looks like a human. The third version, HUBO (KHR-3), has more human-like features, a greater variety of movements, and a more human-friendly character. This paper presents the mechanical design of HUBO, including the design concept, the lower body design, the upper body design, and the actuator selection of joints. Previously the details of KHR-1 and KHR-2 developed and published. The HUBO platform, which is based on KHR-2, has 41 DOF, stands 125 cm tall, and weighs 55 kg. From a mechanical point of view, HUBO has greater mechanical stiffness and a more detailed frame design than KHR-2. The stiffness of the frame was increased and the detailed design around the joints and link frame were either modified or fully redesigned. We initially introduced an exterior art design concept for KHR-2, and that concept was implemented in HUBO at the mechanical design stage. The electrical system designs and system integration including controllers and sensory devices of the humanoid HUBO are presented. All the joints of HUBO are under the distributed control, which reduces the computation burden on the main controller and also to facilitate device expansions. We have developed a microprocessor-based sub-controller for servo motor operations, onto which sensory feedback is interfaced. The main controller, which is mounted in the chest of the robot, communicates with sub-controllers in real-time through CAN (Controller Area Network). Windows XP is used as the OS (Operating System), which enables rapid program development. RTX (Real Time eXtension) HAL extension softw...