抄録
The biped robot produces a problem of a rollover and home range reduction by external force and step and an obstacle. Presently, ASIMO has overcome this problem. But it is expensive, it is difficult to be moved by familiarly. The sensor and degree of freedom are added to robot for ROBO-ONE which it is easy to get. Judging with the sensor whether it gets over the obstacle, the biped walking robot enables to evade. When the robot rises at stairs, the range of the leg lifting which is necessary to step over is judged by oneself, the obstacle is passed by robot.
