Rainbow Robotics · Humanoid · 2009
HUBO-2 (KHR-4, also 'Jaemi HUBO'), developed 2008-2009 by Professor Jun-Ho Oh's HUBO Lab at KAIST in South Korea, is a landmark full-size humanoid — one of the first advanced full-body humanoids developed outside Japan. At 1,250 mm and 45 kg with 40 DOF (3-DOF neck, dual 7-DOF arms, dual 5-DOF hands, 1-DOF torso, dual 6-DOF legs), it introduced a distinctive straight-leg walking gait that improved on the bent-knee posture most bipeds use to balance, consuming less energy and looking more natural. It's driven by 40 brushless DC motors with harmonic-drive reducers on an aluminium endoskeleton with polycarbonate frame, runs real-time control on Windows XP with the RTX extension across two PC/104 computers, and carries cameras plus 3-axis force/torque and inertial sensors. HUBO-2 could walk, run, dance and grasp for about two hours per charge, and its lineage led directly to DRC-HUBO+, which won the 2015 DARPA Robotics Challenge. Prof. Oh co-founded Rainbow Robotics in 2011 to commercialise the HUBO platform. NOTE: full DOF breakdown and specs from KAIST/IEEE Spectrum records; historic entry, verified figures.
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View full interactive profile, comparisons & videos →| Category | Humanoid |
| Sub-type | Historic Research Humanoid |
| Status | Legacy |
| Year | 2009 |
| Origin | South Korea |
| Also known as | Jaemi HUBO / KHR-4 |
| Announced | 2008 |
| Released | 2009 |
| Weight | 45 kg |
| Frame | Aluminum endoskeleton |
| Degrees of freedom | 38 |
| Battery life | 120 min |
| Camera | Vision cameras (head) |
| Operating system | Windows XP + RTX (real-time extension) |
| Actuator type | 40 brushless DC motors (200W/100W/11W/0.75W); harmonic drive reducers |
| Use cases | Humanoid research, Bipedal locomotion R&D, Education |
| Made in | South Korea |
