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HUBO 2

HUBO 2

HUBO 2 by KAIST is a 125 cm, 45 kg humanoid robot with 40 DOF, capable of walking, running, dancing, and manipulation, designed for advanced robotics research.
Discontinued
South Korea
Humanoid
2009
Specifications
Dev Doc
Website
Made by
Rainbow Robotics Co., Ltd.
Software Type
Closed Source
Software Package
Real-time control software on Windows XP with RTX extension. Motion planning and sensor fusion algorithms. Vision processing and force feedback control.
Actuators
40 brushless DC motors of varying power ratings (200 W, 100 W, 11 W, 0.75 W) drive the robot’s joints, enabling smooth and responsive motion.
Compiute
Two PC/104 embedded computers with solid-state drives handle real-time control and sensor data processing.
Sensors
Cameras for visual perception. Three-axis force-torque sensors. Two-axis inertial and tilt sensors.
Max Op. time
mins

Robot Brief

HUBO 2 (also known as KHR-4) is a full-size humanoid robot developed by the Korea Advanced Institute of Science and Technology (KAIST) as part of the HUBO series. Released around 2008–2009, HUBO 2 features a slimmer, lighter design compared to its predecessors, with an aluminum endoskeleton and polycarbonate frame, resulting in a 20% weight reduction. It stands about 125 cm tall and weighs approximately 45 kg. HUBO 2 improves upon earlier models with more natural and quicker arm motions and legs capable of stretching to imitate human walking, which reduces energy consumption compared to traditional zero moment point (ZMP) walking. Its walking speed is increased to about 1.5 km/h, and it can run at speeds up to 3.0 km/h. The robot is equipped with 40 brushless DC motors providing 40 degrees of freedom, including neck, arms, hands, torso, and legs, enabling complex and dynamic motions such as walking, running, dancing, and object manipulation. HUBO 2 integrates cameras, force-torque sensors, inertial sensors, and tilt sensors for perception and balance, and is powered by onboard embedded computers running real-time control software.

Use Cases

HUBO 2 performs bipedal locomotion with a straight-leg walking gait, capable of walking, running, dancing, and grasping objects. It uses advanced sensing and control to maintain balance and execute dynamic movements. The robot can interact with its environment through vision and force sensing, making it suitable for research in humanoid robotics, dynamic motion, and human-robot interaction.

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Industries

  • Research & Development: Platform for studying humanoid locomotion and manipulation.
  • Robotics Education: Demonstrates advanced control and dynamic motion.
  • Service Robotics: Basis for development of assistive and interactive robots.
  • Disaster Response: Precursor to robots like DRC-Hubo used in DARPA Robotics Challenge.

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Specifications

Length
mm
Width
mm
Height (ResT)
mm
Height (Stand)
-
1250
mm
Height (Min)
mm
Height (Max)
mm
Weight (With Batt.)
-
kg
Weight (NO Batt.)
-
45
kg
Max Step Height
-
mm
Max Slope
+/-
-
°
Op. Temp (min)
-
°C
Op. Temp (Max)
-
°C
Ingress Rating
-
No items found.

Intro

HUBO 2 stands 125 cm tall and weighs 45 kg. It features 40 degrees of freedom distributed across a 3-DOF neck, dual 7-DOF arms, dual 5-DOF hands, 1-DOF torso, and dual 6-DOF legs. The robot’s aluminum skeleton and polycarbonate frame provide a lightweight yet durable structure. It uses 40 brushless DC motors for actuation, enabling smooth and precise movements. Sensors include cameras for vision, force-torque sensors at key joints, inertial measurement units, and tilt sensors for balance. HUBO 2 runs on two PC/104 embedded computers with solid-state drives, operating under Windows XP with real-time extensions for control.

Connectivity

  • Embedded PC/104 computers for control and communication.
  • Sensors including cameras and force-torque sensors integrated for feedback.
  • Real-time control software enabling precise motion coordination.

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Capabilities

  • Bipedal walking at 1.5 km/h and running at 3.0 km/h.
  • Dynamic motions including dancing and object manipulation.
  • Straight-leg walking gait for energy-efficient locomotion.
  • Vision and force-torque sensing for environment interaction.
  • 40 degrees of freedom for complex, human-like movements.
  • Real-time control with embedded computing.

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