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

Abstract

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.