KAIST HOUND 1

Selected Works

[1] Y. -H. Shin et al., "Design of KAIST HOUND, a Quadruped Robot Platform for Fast and Efficient Locomotion with Mixed-Integer Nonlinear Optimization of a Gear Train," 2022 International Conference on Robotics and Automation (ICRA), Philadelphia, PA, USA, 2022, pp. 6614-6620, doi: 10.1109/ICRA46639.2022.9811755.

Specifications

KAIST Hound1 is a 45 kg agile quadruped robot designed for high-speed and dynamic outdoor locomotion. The drivetrain was developed through mixed-integer optimization, incorporating gear ratio selection, gear geometry, and motor thermal constraints. Hound1 demonstrates robust all-terrain performance—successfully climbing 22° slopes, walking over 3.2 km continuously, and stepping over 35 cm obstacles. In October 2023, it completed a 100-meter run in 19.87 seconds from a standing start, earning a Guinness World Record for the fastest quadruped robot; this was achieved using a single controller trained entirely via reinforcement learning.

  
    General Information

      Total Mass [kg]
      45
    
      Body Dimension (Length x Width x Height) [m]
      0.7 x 0.2 x 0.14
    
      Thigh/Calf Length [m]
      0.33 / 0.35
    
    Mechanical Properties

      Parameter
      Hip
      Knee
      Roll
    
      Torque Constant [Nm/A]
      0.72
    
      Max Torque [Nm]
      50
    
      Rotor Inertia [kg·m²]
      0.00087850
      0.00088185
      0.00088185
    
      Reduction Ratio
      4
      119/15
      4

General Information
Total Mass [kg]	45
Body Dimension (Length x Width x Height) [m]	0.7 x 0.2 x 0.14
Thigh/Calf Length [m]	0.33 / 0.35

Mechanical Properties
Parameter	Hip	Knee	Roll
Torque Constant [Nm/A]	0.72
Max Torque [Nm]	50
Rotor Inertia [kg·m²]	0.00087850	0.00088185	0.00088185
Reduction Ratio	4	119/15	4

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