WABIAN and Other Waseda Robots

Kenji Hashimoto*, Atsuo Takanishi

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingChapter


Waseda University has researched on biped robots since 1967. This chapter describes our biped humanoid robot WABIAN-2, which has 41 mechanical degrees of freedom consisting of two 6-DoF legs, a 2-DoF waist, a 2-DoF trunk, two 7-DoF arms, two 3-DoF hands, a 3-DoF neck, and two 1-DoF feet having passive toe joint. Its height is 1480 mm and its total weight is 64 kg. WABIAN-2 has realized a human-like walk with the knees stretched, heel-contact, and toe-off motion by utilizing a foot mechanism having a passive toe joint and a 2-DoF (Roll, Yaw) waist mimicking a human’s pelvis motion. We have proposed to use a biped humanoid robot, WABIAN-2 as a human motion simulator which can evaluate rehabilitation/welfare instruments quantitatively instead of human beings. In this chapter, we will explain the details of WABIAN-2 and introduce an application of WABIAN-2 to evaluate a walk-assist machine and an attempt to clarify the function of the foot arch structure.

Original languageEnglish
Title of host publicationHumanoid Robotics
Subtitle of host publicationA Reference
PublisherSpringer Netherlands
Number of pages25
ISBN (Electronic)9789400760462
ISBN (Print)9789400760455
Publication statusPublished - 2018 Jan 1


  • Biped Robot
  • Human-like Foot
  • Medial Longitudinal Arch
  • Waist Motion
  • WAseda roBOT

ASJC Scopus subject areas

  • Engineering(all)
  • Computer Science(all)


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