Abstract
In this study, we have developed a biped walking robot, which is used only a few actuators at torso, and use upper body dynamics. We have proposed walking model using two DOFs, and have shown walking motion by simulation. In this paper, a prototype robot is shown, and the control theory is indicated. The prototype robot conducts the stepping motion by side swing of upper body, and walk by swing back and forward in synchronization with the side stepping. Finally, we have verified by results of walking-experiment using developed prototype robot that it is possible to walk with the same method as a simulation.
