Its amazing what progress AIST, the Japanese National Institute of Advanced Industrial Science and Technology (AIST), made in their effort to design humanoid robots. This HRP-4C humanoid robot, friends call her Miim, is able to walk a line like a human being. She is able to stretch her knees by up/down motion of the waist. Also the single-toe supports longer strides as well as the swing motion of human legs. Technical details for Miims design was presented at the International Conference on Intelligent Robots and Systems and is published in the paper proceedings 2011 IEEE/RSJ.