Oda Laboratory is trying to develop the robotics technology, motion control techniques, robot vision and sensing technology. Several kind of actual robot hardware is developed for evaluating our designed technology. It is said that the robot technology is expected to play an important role as human-friendly and assistive robotic devices for the super aging society, Japan. Currently, we have a biped walking robot with 12DOF, electric wheelchair, several mobile robots and robot manipulators. Our objective is to design and develop new techniques for controling the robot motion and sensing the environments, which are required in human-friendly robotic system.