Humanoid Robot HanSaRam: Schemes for ZMP compensation

The purpose of this paper is to give an overview of recent progress and development in humanoid robot, HanSaRam series. HanSaRam is a humanoid robot undergoing continual design and development in the Robot Intelligence Technology (RIT) Laboratory at KAIST. This paper also presents the experimental results of the ZMP compensation in the walking and standing posture of HSR-IV. During walking motion, proportional ZMP compensation scheme is employed. A novel two mode Q-learning, which extends standard Q-learning, is used to compensate ZMP in the standing posture. In the proposed two mode Q-learning, both the success and failure experiences of an agent is used for fast convergence. The effectiveness of two mode Q-learning is verified through real experiment. Also, the recently developed humanoid robot, HSR-V is introduced in this paper to give an idea about the future directions of our ongoing research.