Abstract
In this paper, we introduce a biped robot with SCARA type leg. There are many researches of energy saved biped robot such as passive walk and energy saved multi-legged robot with a mechanism in the sense of GDA. We propose a biped robot with a leg mechanism like a energy saved multi-legged robot and make a biped robot experimentally. Proposed leg mechanism is like a SCARA robot in the sense of GDA. This leg has 3-DOF in horizontal plane, and the 3-DOF is free from the gravity ideally. The prototype has 7-DOF in total and lifts up or down its leg by only one DOF. The one DOF mechanism reduces a torque of standing with both feet.
