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Development of biped walking robot KBR-1R

This paper describes the mechanism of KBR-1R (Kanagawa Biped Robot-1 Refined) that is able to walk on even and uneven terrain. The KBR-1R has 15 degrees of freedom (DOF) (two 6 DOF legs and a 3 DOF waist). It was designed with a large movable range like a human. Also, a compensatory motion control for stable walking is described which is based on the motion of the trunk. Using the KBR-1R, various walking experiments are conducted, and the effectiveness of the mechanism and the control method is confirmed.