Hubo II is a 40-DOF full size Humanoid Robot with 1.3m of height and 45Kg of weight. Hubo II which was originally developed at KAIST is now in commercial production stage by Rainbow Co., an enterprise licensed by KAIST. Nine Hubo II have successfully been delivered to universities and research institutes in Singapore and the US. The full size humanoid robot differs from the toy size small ones in many aspects. It should have a very stable and well-designed structure with little uncertainties. It must be strong enough to move its body weight, but not so heavy to minimize the torques to drive the body parts. All the electrical parts and sensors including force/torque sensors, inertia sensors, the driver circuits, and decentralized control must be designed and fabricated compact enough to be fit in the enclosure of the body. Another important task is to design a walking algorithm. The walking algorithm is composed with two parts: off-line gait pattern design and real time stabilization control. Gait pattern design is to find a periodic function for each joint of leg such that humanoid robot is to walk with desired velocity keeping a certain level of stability. We suggested a simple function connected with cubic spline and sine functions with minimal number of parameters. This approach simplifies the parameter adjustment procedure. Play back of gait pattern found from the former process, however, does not guarantee the robot walks in real practice since there are number of uncertainties involved in real situations. The uncertainties include ground inclination, friction, and un-modeled vibration of the body. The stabilization algorithm should deal with these kinds of problems. Huboâ€™s walk algorithm has eight levels of hierarchical control architecture to cope with the general circumstances in the walking environment. The general issues mentioned above will be presented.
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