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HuboPlus
robEllenberg edited this page Sep 22, 2012
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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.
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".