We have developed a humanoid robot HRP-1S that can be controlled its whole body motion. In phase one of Humanoid Robotics Project (HRP) of METI, Honda R&D Co. Ltd. has produced humanoid robots HRP-1 as humanoid research platforms to establish good applications of humanoid robots in phase two. HRP-1 is controlled its feet and arms separately, so that it is not suitable for some applications. By modifying the hardware of HRP-1 and implementing our own control software on it, we made HRP-1S. In this paper, we present a control system of HRP-1S. Some experimental results are also shown.
