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• HanSaRam I~IV


KAIST (Korea Advanced Institute of Science and Technology) is a South Korean research university that has developed a wide range of robots, some of which have become world famous. One of the ongoing robotics projects developed at KAIST’s RIT (Robot Intelligence Technology) lab is the HSR (HanSaRam) series of bipedal robots.

The HanSaRam series has had eight evolutions since 2000. Originally designed to test bipedal walking in robots, they have since taken part in robot soccer and the HuroCup (first started in 2007), which is only fitting given that the RIT lab is home to the FIRA (Federation of International Robot-soccer Association) one of the two major robotic soccer leagues (the other being RoboCup).


hsr-1 hsr-2

Developed in 2000, HSR-I and HSR-II had only 10 RC servo motors. While it was easy to make and control, the original lacked an upperbody and its motors had weak torque. The main difference between the first two HSRs is a different lower body structure, and the HSR-II had a simple upper body equipped with a camera.



Completed in 2001, the HSR-III had 12 DC motors & 10 RC servo motors. While it lacked sensor feedback, the robot finally took on humanoid form and could even grasp objects using it’s claw-like ”hands”. This robot included a camera to provide visual feedback.


In 2002, the HSR-IV returned to a legs-only design using 12 RC servo motors, and could maintain its balance using data from the FSRs (force sensing resistors) in its feet.


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