Quasi-human biped walking

Hun Ok Lim*, Sang Ho Hyon, Samuel A. Setiawan, Atsuo Takanishi

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

9 Citations (Scopus)


Our goal is to develop biped humanoid robots capable of working stably in a human living and working space, with a focus on their physical construction and motion control. At the first stage, we have developed a human-like biped robot, WABIAN (WAseda BIped humANoid), which has a thirty-five mechanical degrees of freedom. Its height is 1.66 [m] and its weight 107.4 [kg]. In this paper, a moment compensation method is described for stability, which is based on the motion of its head, legs and arms. Also, a follow walking method is proposed which is based on a pattern switching technique. By a combination of both methods, the biped robot is able to perform dynamic stamping, walking forward and backward in a continuous time while someone is pushing or pulling its hand in such a way. Using WABIAN, human-fellow walking experiments are conducted, and the effectiveness of the methods are verified.

Original languageEnglish
Pages (from-to)257-268
Number of pages12
Issue number2
Publication statusPublished - 2006 Mar 1


  • Compensatory motion
  • Human-follow walking
  • Interaction
  • Pattern synthesis
  • Walking pattern

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • General Mathematics
  • Computer Science Applications


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