A Biped Humanoid Robot for Human-robot Coexistence

To explore an issue of a human-like motion, we have constructed a human-like biped robot called WABIAN-RII (WAseda BIped humANoid robot-Revised II) that has a total of fortythree 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. For human-robot symbiosis, the biped humanoid robot is required to have the ability capable of expressing its emotion and following a human motion. In this paper, we present a follow-walking control with a switching pattern technique and an emotion-based control with a motion parameter technique. Also, how to cancel moments generated by the motion of lower-limbs of the biped robot is described for a dynamic balance.