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Golem HUBO

Hubo Cutting a Rectangle in Cardboard (16:9) from Golems on Vimeo.

Golem Hubo is our newest Humanoid robot developed by Dr. JunHo Oh at KAIST in Korea. Hubo is a complete anthropomorphic humanoids and we are now developing novel planning and control algorithms for this system.

This is a video of Hubo cutting a 15x10cm rectangle in cardboard, with two different camera angles, a view of the cut on the right, and a view on the left of Hubo and the teleoperator in the background. We balanced him using his ankle motors and velocity control using just a proportional term. They are compliant with the moments about his ankles, but resistant against the angle of his torso with respect to the vertical in order to keep him upright. He has a Dremel strapped to his hand with a drill bit insert. We use the inverse kinematics of the arm and a Polhemus Fastrak Motion Tracking device to move his arm horizontally. By lowering the tracking device, Hubo also lowers by bending at the knees. These two degrees of freedom allow Hubo to cut out the rectangle.

Publications

Conference

  • 2013
  • Rowland O'Flaherty, Pete Vieira, M.X. Grey, Paul Oh, Aaron Bobick, Magnus Egerstedt, and Mike Stilman Humanoid Robot Teleoperation for Tasks with Power Tools IEEE International Conference on Technologies for Practical Robot Applications. 2013.

    This paper presents the implementation of inverse kinematics to achieve teleoperation of a physical humanoid robot platform. The humanoid platform will be used to compete in the DARPA Robot Challenge, which requires autonomous execution of various search and rescue tasks, such as cutting through walls, which is a very practical application to robotics. Using a closed-form kinematic solution and a basic feedback controller, our objective of executing simple tasks is realized via teleoperation. Joint limits and singularities are accounted for using the different cases in the kinematic solution; and a decision method is implemented to determine how to position the end-effector when the goal is outside the feasible workspace.

    @inproceedings{oflaherty2013teleop,
      title = {Humanoid Robot Teleoperation for Tasks with Power Tools},
      pages = {119-124},
      booktitle = {IEEE International Conference on Technologies for Practical Robot Applications},
      author = {Rowland O'Flaherty and Pete Vieira and M.X. Grey and Oh, Paul and Bobick, Aaron and Magnus Egerstedt and Mike Stilman},
      year = {2013}
    }
    
  • M.X. Grey, Neil T. Dantam, Dan M. Lofaro, Paul Oh, Aaron Bobick, Magnus Egerstedt, and Mike Stilman Multi-Process Control Software for Humanoid Robots IEEE International Conference on Technologies for Practical Robot Applications. 2013.

    Humanoid robots require greater software reliability than traditional mechantronic systems if they are to perform useful tasks in typical human-oriented environments. This paper covers a software architecture which distributes the load of computation and control tasks over multiple processes, enabling fail-safes within the software. These fail-safes ensure that unexpected crashes or latency do not produce damaging behavior in the robot. The distribution also offers benefits for future software development by making the architecture modular and extensible. Utilizing a low-latency inter-process communication protocol (Ach), processes are able to communicate with high control frequencies. The key motivation of this software architecture is to provide a practical framework for safe and reliable humanoid robot software development. The authors test and verify this framework on a HUBO2 Plus humanoid robot.

    @inproceedings{grey2013architecture,
      title = {Multi-Process Control Software for Humanoid Robots},
      pages = {190-195},
      booktitle = {IEEE International Conference on Technologies for Practical Robot Applications},
      author = {M.X. Grey and Neil T. Dantam and Lofaro, Dan M. and Oh, Paul and Bobick, Aaron and Magnus Egerstedt and Mike Stilman},
      year = {2013}
    }
    

Technical Reports

  • Rowland O'Flaherty, Pete Vieira, M.X. Grey, Paul Oh, Aaron Bobick, Magnus Egerstedt, and Mike Stilman Kinematics and Inverse Kinematics for the Humanoid Robot HUBO2+ no. GT-GOLEM-2013-001. Georgia Institute of Technology, Atlanta, GA. 2013.

    This paper derives the forward and inverse kinematics of a humanoid robot. The specific humanoid that the derivation is for is a robot with 27 degrees of freedom but the procedure can be easily applied to other similar humanoid platforms. First, the forward and inverse kinematics are derived for the arms and legs. Then, the kinematics for the torso and the head are solved. Finally, the forward and inverse kinematic solutions for the whole body are derived using the kinematics of arms, legs, torso, and head.

    @techreport{oflaherty2013hubokinematics,
      title = {Kinematics and Inverse Kinematics for the Humanoid Robot HUBO2+},
      number = {GT-GOLEM-2013-001},
      institution = {Georgia Institute of Technology, Atlanta, GA},
      author = {Rowland O'Flaherty and Pete Vieira and M.X. Grey and Oh, Paul and Bobick, Aaron and Magnus Egerstedt and Mike Stilman},
      year = {2013}
    }
    

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