AIST has succeeded in making HRP-4C Miim walk like a human being. Her knees are stretched by up/down motion of the waist, the single-toe supporting realizes longer strides, and she mimics the swing motion of human legs. Technical detail is presented in "Human-Like Walking with Toe Supporting for Humanoids," by Kanako Miura, Mitsuharu Morisawa, Fumio Kanehiro, Shuuji Kajita, Kenji Kaneko, and K
![HRP-4C Miim's Human-like Walking](https://cdn-ak-scissors.b.st-hatena.com/image/square/5d43df6c2872cbcf02b13f562df7ae403442ca87/height=288;version=1;width=512/https%3A%2F%2Fi.ytimg.com%2Fvi%2FYvbAqw0sk6M%2Fhqdefault.jpg)