This paper briefs on 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. ...

The purpose of this study was to critically evaluate the effects of robot-assisted gait training (RAGT) on gait-related function in patients with acute/subacute stroke. We conducted a systematic review of randomized controlled trials published between May 2012 and April 2016. This search included 334 articles (Cochrane, 51 articles; Embase, 175 articles; PubMed, 108 articles). Based on the incl...

This paper deals with multi-objective optimization in gait planning of a 7-dof biped robot ascending and descending some staircases. Both its power consumption as well as dynamic balance margin depends on a few common design parameters. The biped robot should have a maximum dynamic balance margin but at the expense of minimum power. Thus, a conflicting relationship exists between these two obje...

We built a simple toy climbing robot in order to explore problems related to minimalist grasping, path planning, and robot control. The robot is capable of climbing a wall of pegs either under remote control, or on the basis of a set of pre-recorded keyframes. In addition, the robot can climb certain peg configurations using a cyclic gait. All communications are sent through an infrared connect...