This study is aimed at the development of human-like biped robots and the realization of various biped-walking motions. We have constructed a life-sized humanoid 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 arras, a four DOF neck, four DOF in the eyes and a torso with a three DOF waist. The biped humanoid robot is required to have the function of stability, followability and environmental adaptability to achieve human-like walking. A walking pattern generator generates unit patterns for a biped locomotion, and the complete walking pattern for followability is determined by synthesizing the unit patterns. The compensatory motion of the trunk and waist that is calculated by a balance control method ensures the stability of combined walking patterns. Through hardware experiments, we have realized follow walking, emotional walking, continuous walking and so on.