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RoMeLa | MiniHUBO: Miniature Humanoid Robot
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Robots

MiniHUBO:
Miniature Humanoid Robot

Researchers: Dr. Dennis Hong, Paul D’Angio, Jaekweon Han, Seungmoon Song, Robort Nguyen

Height: 48 cm

Weight: 3.9 kg

D.O.F.: 23

Motors: Robotis Dynamixel RX-28, RX-64

Computing: Gumstix Verdex Pro XL6P, Analog Devices Blackfin BF561

Power: Dual 7.4v 2000mAh LiPo batteries

MiniHUBO (Miniature Humanoid Robot) is capable of walking. Developed at the Robotics & Mechanisms Laboratory (RoMeLa) at Virginia Tech, DARwIn is a research platform for studying robot locomotion and autonomous behaviors, and also the base platform for Virginia Tech’s entry to the RoboCup competition.

Mechanical Goals and Objectives

DARwIn is a research platform for studying robot locomotion and is also the base platform for Virginia Tech’s entry to the RoboCup Competition. In this research, we study the issues of mechanical design, kinematics, dynamic bipedal gaits, ZMP control, vision tracking, and complex autonomous behaviors needed for playing soccer.