AIST has succeeded in making HRP4C Miim walk like a human being. Her knees are stretched by up/down motion of the waist, the singletoe supporting realizes longer strides, and she mimics the swing motion of human legs.
Technical detail is presented in "HumanLike Walking with Toe Supporting for Humanoids," by Kanako Miura, Mitsuharu Morisawa, Fumio Kanehiro, Shuuji Kajita, Kenji Kaneko, and Kazuhito Yokoi, Proc. 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems.
Related links;
AIST official Web site
http://www.aist.go.jp/index_en.html
Intelligent Systems Research Institute
http://unit.aist.go.jp/is/cie/index_e...