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 moti...

Many different and high-quality humanoid motions have been developed based on a tailored, 55cm tall humanoid robot kinematics and design using 21 servo motors and inertial sensors for stabilization. These include fast forward walking of about 1.5 km/h in permanent operation, multidirectional walking capabilities, a variety of standard and spectacular kicks, standing up motions as well as motion...

Humanoid robot is a type of robot that the overall appearance is based on that of the human body. Humanoid robots include a rich diversity of projects where perception, processing and action are embodied in a recognizably anthropomorphic form in order to emulate some subset of the physical, cognitive and social dimensions of the human body and experience. The research on humanoid robots spans f...

In the near future, humanoid robots will act as the partners of human beings in daily life. Among numerous human-like competencies, motion of humanoid robots is critical for providing humans with richer interactions with such robots. Motion plays an essential role in complementing spoken communication. Moreover, the motions of humanoid robots generate nonverbal communication in various contexts...

1. Introduction The development of a humanoid robot within the scope of special research area 588 has the objective of creating a machine that closely cooperates with humans. This leads to requirements such as little weight, small moving masses (no potential danger for persons in case of collision), as well as appearance, motion space, and work movements after the human model. One reason for th...

Humanoid robotics is a field of a great research interest nowadays. This work implements a low-cost teleoperated system to control a humanoid robot, as a first step for further development and study of human motion and walking. A human suit is built, consisting of 8 sensors, 6 resistive linear potentiometers on the lower extremities and 2 digital accelerometers for the arms. The goal is to repl...

Controlling the direction of balance for a two legged walking robot typically means mimicking the human form and its walking locomotion. Even though the human locomotion approach is taken as the ultimate reference, gaits can be developed using less sophisticated methods The paper describe the design and build a humanoid that can duplicate the complexities of human motion, decision making, be ab...

Researches on humanoid robots have become more and more active in various fields. One of the purposes is to construct a coexistent and cooperative society between humanoid robots and human. The body of humanoid robots is similar to human beings enabling them to walk with a pair of legs and to work with their hands. Therefore, humanoid robots have advantages to work in human environment. So, res...

In this paper, the method that allows for the combined control scheme of the imitation and autonomous control for a humanoid robot via Internet is presented. Our approach does not use any prior analytical or mathematical robot modeling (e.g. forward or inverse kinematics). All the way from the human operator with encoders to the humanoid joints, many server motors and encoders are connected wit...

We propose a reduced-model-based analytic approach to active shock absorption by a falling humanoid robot at impact. We model the segment between the contact point at impact and the impacting limb extremity attached to the torso or waist of the humanoid robot as a one degree-offreedom linear mass-spring-damper system. By mapping the joint angle limits and torque limits of the joints in the impa...