Recent progress and development of the humanoid robot HanSaRam
This paper presents an overview of the recent progress and development of the humanoid robot, HanSaRam series, which have been developed in the Robot Intelligence Technology (RIT) Laboratory, KAIST since 2000. The HanSaRam series have been designed and developed as a small-sized robot for researching walking gate generation, navigation, task planning and HuroCup of FIRA. In particular, the performance of the 7th and 8th versions have been remarkably improved in the aspect of walking pattern generation and task planning. This paper describes the overall design and architecture of recently developed two versions of HanSaRam along with a developed vision simulator tool and the real-time walking gate generation scheme, modifiable walking pattern generator.
humanoid robot task planning modifiable walking pattern humanoid simulator zmp variation 3d-lipm