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MiNI-HUBO Series: LabVIEW Driver for Dynamixel Motors July 9, 2010

Posted by emiliekopp in code, labview robot projects.
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Recall Mini-Hubo, the small, humanoid research platform developed by RoMeLa. I had mentioned his joints are actuated by Robotis Dynamixel motors, high-performance networked actuators built specifically for robots.

Karl, our resident humanoid expert, has graciously shared the LabVIEW drivers that allow you to communicate with these robot-specific motors, plug-and-play style. Check out the LabVIEW Robotics Code Exchange to automatically download the driver and install it into LabVIEW. For anyone using Dynamixel motors for their own robot designs, this will save you lots of driver development time.

Download Dynamixel Motor Driver

Don’t have LabVIEW? You can check it out for free here.

Meet Mini Hubo: part 1 of series March 31, 2010

Posted by emiliekopp in labview robot projects.
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Meet Mini Hubo, a small, humaniod robot based on an original,  full scale humanoid design by the Korea Advanced Institute of Science and Technology (KAIST). The original Hubo was replicated and scaled smaller in size by RoMeLa at Virginia Tech  since not everyone has the funds or resources to have their own life-size humanoid walking around the lab; Dr. Hong and his students created a more accessible version. The goal of Mini Hubo is to serve as an affordable and open-ended research platform to expand knowledge in the human robotics field.

Since we’re good friends with the engineers at RoMeLa, we recently got our hands on a Mini Hubo here at NI. One of our interns, RJ Gross from Drexel University, spent some quality time with the robot, which we began to refer to as MiNI Hubo, since all of our robots have some sort of emphasis on “NI” (see NIcholas, DaNI, NIro, NItro, GreeNI, etc). As a result, RJ will be sharing a lot of the LabVIEW code he developed to control MiNI-Hubo (coming soon!).

In the meantime, here’s some mechanical specs on our MiNI Hubo:

Height: 46cm

Weight: 2.9 kg

DOF: 22 (but don’t worry, Mini Hubo comes with documentation that includes his forward and inverse kinematics, whew!)

Motors: Robotis Dynamixel RX-28 (LabVIEW drivers for these particular motors will be published soon, so you can get your hands on them too)

Controller: We chose to use the FitPC2 to controller our MiNI Hubo, although the humanoid platform is flexible, so you could use practically anything, like Gumstix, NanoATX, PC104, etc.

OS/SW: Our MiNI Hubo is programmed using LabVIEW Robotics and runs Windows on the FitPC2. RJ will be publishing a white paper on running LabVIEW on the FitPC2 soon as well. But again, depending on what controller is selected, the OS/SW is flexible.

Vision: We used a USB webcam. This is also a flexible option for Mini Hubo.

Power: Lithium-ion polymer batteries

We’ll be getting more up-close and personal with this robot in the coming weeks, so stay tuned. I have some video of MiNI Hubo walking at one of the cubicles in R&D that I look forward to sharing.

For anyone considering who’s interested in a Mini Hubo of his/her own, be sure to contact RoMeLa. They sell the Mini Hubo platform to researchers.