The Origin of Artificial Species: Humanoid Robot HanSaRam

This paper provides a basis for investigating ”The Origin of Artificial Species,” as robot can be considered as an artificial creature. To design an artificial creature, a general architecture for the artificial creature is presented and its artificial chromosomes are described. At present the chromosomes are implanted into the software robot living in virtual world, but in the future research they will be used to define the personality of robots including humanoid robots. With this research purpose, this paper also describes an overview of recent progress and development in humanoid robot, HanSaRam series. HanSaRam (HSR) is a humanoid robot undergoing continual design and development in the Robot Intelligence Technology (RIT) Laboratory at KAIST since 2,000. Currently HSR-VI, the latest version developed in 2,004, is under experiment for on-line gait generation and aperiodic motion generation. In this paper, HSR-V is used to test the performance of the proposed two-phase gait generation for compensating the yawing moment induced when it walks and of the real time ZMP compensation. Experiment results of balance control by the proposed scheme are presented.