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DRC-Hubo+

 


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■ Overview

In 2013, DRC-Hubo, which has capability of assisting humans in responding to natural and manmade disasters, was developed for DARPA robotics challenge. And upgrade version of DRC-Hubo, DRC-Hubo+, participates DRC final in 2015. DRC-Hubo+ is much powerful than preview Hubo series by new design. Also it operates high performance in the various fields such as walking performance, manipulability and vision recognition. Specially, DRC-Hubo+ has high mobility because it can transform from bipedal mode into wheel mode which the robot rolls by using wheels in the knee. Recently, with DRC-Hubo+, robust bipedal walking and manipulability are on researching.

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■ Features

   1. Robust mechanism
    - No external cables
    - Stiff mechanical structure
    - Modular design

   2. Robost behavior under rough environment
    - Stable behavior under various sun light noise, rough ground and bps bandwidth condition

   3. Smart power management
    - Stable power for PC, communication, etc. via Super-capacitor
    - Soft start-up circuits

   4. Effective heat dissipation
    - Custom designed finned air cooling with a fan
    - Heat dissipation through body

   5. Balance between Supervisory and Autonomy
    - Supervisory:
Indicate “Where to go” in 2D vision space.
Indicate “Region of Interest (ROI)” for the objects in 2D.
    - Autonomy:
Get objects in 3D cloud data from LIDAR
Script base autonomy
    - Manual:
Augmented virtual space manipulation in 3D cloud data
Visual servo

   6. Real time OS and framework for multi-agent system
    - PODO

   7. Stable and reliable mobility
    - Transformable to upright and kneeling postures

   8. Compliance control 
    - Dynamic egress : Computed torque method
    - Door, Valve, etc. : Variable low gain

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■ Specification

DRC HUBO+ specification.PNG 

■ Movie Clip