Development of a human-like walking robot having two 7-DOF legs and a 2-DOF waist

Yu Ogura, Hiroyuki Aikawa, Hun Ok Lim, Atsuo Takanishi

Research output: Contribution to journalConference article

60 Citations (Scopus)


Almost all conventional biped humanoid robots have difficulties in realizing various walking motions such as knee stretch walking like a human because of an insufficiency of DOF. Therefore, we have developed a 16-DOF biped humanoid robot without a trunk: 3-DOF in each ankle, 1-DOF in each knee, 3-DOF in each hip and 2-DOF in the waist. Using the biped robot, basic experiments are conducted and the effectiveness of the leg mechanism is confirmed.

Original languageEnglish
Pages (from-to)134-139
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
Issue number1
Publication statusPublished - 2004 Jul 5
EventProceedings- 2004 IEEE International Conference on Robotics and Automation - New Orleans, LA, United States
Duration: 2004 Apr 262004 May 1



  • Biped Humanoid Robot
  • New Leg Mechanism
  • Stretch Walking
  • Various Walking Motions

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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