Waseda biped humanoid robots realizing human-like motion

Hun ok Lim*, Atsuo Takanishi

*Corresponding author for this work

Research output: Contribution to conferencePaperpeer-review

18 Citations (Scopus)


To explore issue of developmental structure and human-like motion, we have constructed a human-like biped robot called WABIAN-RII (WAseda BIped humANoid robot-Revised II) that has a total of forty-three mechanical degrees of freedom (DOF); two six DOF legs, two ten DOF arms, a four DOF neck, four DOF in the eyes and a torso with a three DOF waist. We present a follow-walking control with a switching pattern technique for the biped robot to follow human motion. Also, emotional walking of the biped robot is described, which expresses emotions by parameterizing its motion. The follow walking and emotion expression can be realized by the compensation of moment by the combined motion of the waist and trunk.

Original languageEnglish
Number of pages6
Publication statusPublished - 2000

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Modelling and Simulation
  • Computer Science Applications
  • Electrical and Electronic Engineering


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