Basic emotional walking using a biped humanoid robot

Hun ok Lim, Akinori Ishii, Atsuo Takanishi

Research output: Contribution to journalConference article


In order to explore an issue of human-robot symbiosis, we have constructed a bipedal humanoid robot called WABIAN-RII (WAseda BIpedal humANoid robot-Revised II). The bipedal humanoid robot 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. In this paper we describe a matter of emotional walking expressions using the bipedal humanoid robot. The emotional walking is created by a set of motion parameters of all its mechanical parts such as the torso, neck, head, arms and legs. The results of the emotional walking expressions are evaluated by the percentage of recognition calculated from the questionnaires, showing that the emotional walking expressions are successfully realized.

Original languageEnglish
Pages (from-to)IV-954 - IV-959
JournalProceedings of the IEEE International Conference on Systems, Man and Cybernetics
Publication statusPublished - 1999 Dec 1
Event1999 IEEE International Conference on Systems, Man, and Cybernetics 'Human Communication and Cybernetics' - Tokyo, Jpn
Duration: 1999 Oct 121999 Oct 15


ASJC Scopus subject areas

  • Control and Systems Engineering
  • Hardware and Architecture

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