Waseda biped humanoid robots realizing human-like motion

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 6-DOF legs, two 10-DOF arms, a 4-DOF neck, four DOF in the eyes and a torso with a 3-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.