Hubo Demo Tutorial:
Figure 1: Switches ( On = Up, Off = Down )
I. Setup:
1. Lift Hubo (9 inches off the ground)
2. Ensure No Body Parts are Touching
3. Turn on all power
i. Body CPU
ii. Head CPU
iii. 12V
iv. Sensors
4. Open C:/user/HUBO2/Hubo2.dsw
5. Run Main Program (click on ! sign)
6. Click Z-Phase in ““Main Dialog””
i. Click Search for every joint EXCEPT THE HANDS
1. Don’t click the next Search until “OK” is lit
2. If “fault” is lit then click Search again
ii. Click Exit
7. Click CAN Off in “Main Dialog”
8. Close Program
9. Lower Hubo on to leveling plate
i. Make sure leveling plate is level
10. Turn off sensor switch
i. Wait 5 sec
11. Turn on sensor switch
12. Restart Program
13. Press CAN On in “Main Dialog”
14. Lift Hubo (9 inches)
15. Press ZMP Zero Set in “Main Dialog”
i. Hubo will go into his squat position
ii. Press FT Null
16. Keep the ZMP Zero Set Dialog Open
17. Click FT Show in “Main Dialog”
i. Check Values
1. Mx = 0
2. My = 0
3. Fz = 0
4. If Mx!=0, or My!=0, or Fz!=0
a. Press FT Null
ii. Press Hide
18. Put Hubo on leveling plate
i. Make sure leveling plate is level
19. Click Tilt Show in “Main Dialog”
i. Do not touch Hubo
ii. Click Start Compensation
iii. Wait 10 Sec
1. Inc Roll = -10 to 10
2. Inc Pitch = 60 to 100
3. If above is not true must re-calibrate the legs
a. See the Calibration section of this tutorial
iv. Click Hide
20. Goto ZMP Zero Set Dialog
i. DO NOT TOUCH HUBO
ii. Click Start
iii. Wait until (May take a few minutes)
1. xZPM = 10
2. yZPM = 0
3. Acc Roll = 0
4. Acc Pitch = 0
iv. Click Set
v. In newly opened dialog box click OK
vi. Click Exit in “ZMP Zero Set” dialog
21. Lift Hubo (9 inches)
22. Remove leveling plate
23. Lower Hubo on to the ground
i. Give Hubo slack on his harness to allow for movement
II. Demonstration:
1. Click Kirk Walk in “Main Dialog”
2. Click Control Off
3. Walking:
i. To Move Forward
1. Change Step Size to 30
2. Click Forward
3. Hubo will keep on moving until Stop is pressed
ii. To Move backward
1. Change Step Size to 30
2. Click Backward
3. Hubo will keep on moving until Stop is pressed
iii. To turn CW
1. Change Step Size to 30
2. Click CW
3. Hubo will keep on moving until Stop is pressed
iv. To turn CCW
1. Change Step Size to 30
2. Click CCW
3. Hubo will keep on moving until Stop is pressed
4. Hand Gestures
i. Set grip power = 3 (Recommended)
ii. Use the Left/Right check box to control the given hand
1. Check Left to control the left hand
2. Check Right to control the right hand
1. Press Hold on Hand
2. Can only press once to reset the status of the button press Motion Button Activation
iv. Open Hand
1. Press Hold off Hand
2. Can only press once to reset the status of the button press Motion Button Activation
v. Hand Shake
1. In “Main Dialog” click FT Show
a. Make sure:
i. Mx < 20
ii. My < 20
iii. Fz < 20
b. Click Hide
2. In “Gestures Dialog” click Start Shake Hand
a. Hand will rise
b. If hand wants to be closed go to section II.3.iii
vi. Shake Wrist
1. Pick:
a. Distance 10mm
b. Speed 1Hz to 4 Hz
c. Mode 1 = 1
i. Rotates wrist
d. Mode 2 = 2
i. Circles wrist
e. Mode 3 = 3
i. Wrist up and down
2. Click Go
3. To stop click Stop