Abstract
The small-sized humanoid robots are sold from some companies. Because the most of the robot are for hobbies, they are unsuitable for education use. Then we develop a simulator as teaching materials system and get ZMP and data of the joint torque by simulation. In addition, the making of motion data with simulation is enabled, too, and even few robots can perform education. The student may get deep consideration by comparing the operation of the robot actual machine with data provided from a simulator. We were able to make a motion with the simulator which we developed. And we confirmed that the simulator did a playback of motion data. We acquire various data by a simulator and can save it.
