the goal of this study is to realize a biped humanoid robot as a human motion simulator; where a biped humanoid robot having an ability to mimic various human motions is used for testing welfare apparatuses. In this paper, a humanoid robot, WABIAN-2R, capable of not only human-like walking but also the emulation of disabled persons' walking is proposed. It has two 6-DOF legs, two 1-DOF feet, a 2-DOF pelvis, a 2-DOF trunk, two 7-DOF arms with 3-DOF hands, and a 3-DOF neck. In addition, an algorithm for generating walking patterns for emulations of disabled persons' gaits for each case of disabilities based on the ZMP criterion is described. Moreover, the emulation experiment of the hemiplegic gait of a subject was conducted to demonstrate the effectiveness of the pattern generation method and mechanism of WABIAN-2R as a human motion simulator.