Jaemi Hubo KHR4 Users Manual Daniel M Lofaro DML46Gdrexel edu December 22 2009 Thanks to Dr Paul Oh Dr JunHo Oh Mr David Grunberg Contents 1 Overview 11 Mechanical ka es ote n Mam Computers ce sek ka d 1 2 2 Motor Controllers loj SONAE suo con eR ee does De 1 31 Body Cpe oes xe dO EE Eq 1 3 2 Head Computer s u
Jaemi Hubo KHR4 Users Manual Daniel M Lofaro October 18 2009 1 Overview Welcome to the Hubo KHRA reference manual Through out this manual you will find information regarding the mechanical electrical and software operation of the Hubo KHR4 system 1 1 Mechanical The Hubo KHR4 has the following mechanical specifications Page e 6 DOF Per Leg e 41 DOF Total e Aluminum Frame e High Gear Ratio Harmonic Drive Gear Boxes e Maxon Brushless DC Motors The gear r
Jaemi Hubo KHRA Users Manual Daniel M Lofaro October 7 2009 1 Overview Welcome to the Hubo KHRA reference manual Through out this manual vou will find information regarding the mechanical electrical and software operation of the Hubo KHRA svstem 1 1 Mechanical The Hubo KHRA has the following mechanical specifications Page 15 e 6 DOF Per Leg e 41 DOF Total e Aluminum Frame e High Gear Ratio Harmonic Drive Gear Boxes e Maxon Brushless DC Motors The gear