HanSaRam VI was developed in 2004 with the purpose of focusing its lower body on adequate torque and zero backlash by providing it with DC motors and Harmonic drives like the HanSaRam V.
HSR-VI stands at 52cm and weighs 4.6kg, with 25 DOFs. It consists of 12 DC motors and 13 RC motors in the lower and upper body respectively.
The simplified design in the lower body generates its walking pace through 3D linear inverted pendulum mode, making it easy to control turn and stop motions.
RTLinux and 4 FSRs in each foot sole are also installed to control and measure the Zero Moment Point (ZMP)T of HSR-VI. A photo interrupter and revolving disk in the DC motor control are also installed.