KAIST’s RIT Lab’s small bipedal robot HanSaRam, used as a platform for FIRA soccer, evolved to its fifth form in 2003. It had more than 12 DC motors, feedback using force sensors, and returned to a full humanoid form. Similar to Fujitsu’s HOAP and SONY’s QRIO, it imitates the human leg with only 6 DOFs (3 for the hip, 1 for the knee, and 2 for the ankle).
The HSR-VI was finished in 2004, and had 25 DOFs consisting of 12 DC motors in the lower body and 13 RC servos in the upper body. It stood 52cm tall and weighed 4.6kg. The main difference between the HSR-VI and previous versions was the addition of FSRs in its feet, the ability for fully autonomous sensing (self-localization using landmarks such as a soccer goal), and internal processing (using embedded RTLinux).
Videos of both robots in action after the break.