Humanoid Robot HanSaRam: Schemes for ZMP compensation

Abstract

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 re-sults 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 stand-ing 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 in-troduced in this paper to give an idea about the future directions of our ongoing research. 1