Abstract
A communication between a human and a robot is an important issue when they live in the same space. If a communication is smoothly performed between them, robot working fields will be greatly expanded in a human living space. In this paper, a humanoid robot aiming to realize a smooth communication with a human was proposed. The robot consists of an upper body with the same D.O.F as to that of a human and a wheeled inverted pendulum type mobile platform. The upper body has 22 D.O.F including 2 D.O.F scapula joint in its manipulator. A mechanism and a control system was described in this paper.
