The final target of our research is to develop a bipedal robot as an independent leg module that is sufficient for practical use as a multi-purpose locomotor for robotic systems.
　We aim at the development of a bipedal robot with only lower-limbs and a waist that can walk independently. Its upper body can be developed by users according to their use purposes. This biped locomotor would be applicable to the welfare field as a walking wheelchair or as a walking support machine that is able to walk up and down stairs carrying or assisting a human.
　We have developed a biped locomotor, which has 6-DOF parallel mechanisms. Using these robots, we studied the way to apply biped walking robot to a mobile base.