HuboPlus

Hubo+ Model released

Starting with version 0.5.0, the improved Hubo+ robot has been modeled and included in the huboplus subfolder of the repository. As of now, the model has accurate kinematics, and has about 60% of massive parts included in the mass/inertia calculations. DASL is working to include miscellaneous massive parts such as the main power board, motor controllers, cabling, etc. Within a week of the initial release, we expect to have a 95% mass-accurate model uploaded, which should have the same kinematic structure and joint order.

Joint Sequence Changes

The new Hubo+ model is not necessarily backwards compatible with the original Hubo2 model in terms of joint order:

• Each arm has lost the wrist roll (LWR/RWR) joints, reducing the total DOF of each arm to 6 from the original 7.
• Manipulators are now defined by a simpler naming scheme of <side></side>. The left arm manipulator name is therefore just "leftArm"
• All bodies are named by the scheme: Body_, where is the 2 or 3 letter code describing the upstream joint. For example, the left leg, upper thigh body would be "Body_LHP".

Important: Outstanding Items

• While the mass modeling process has been verified, significant massive parts are not yet included in the model. Therefore 0.5.0 does not have accurate mass / inertia yet. The properties are physically reasonable, however.
• Shell models are currently missing pending delivery from the manufacturer. Assembly and export of the shell geometry is estimated to take an additional week.