This paper presents a humanoid robot HRP-2 developed for Humanoid Robotics Project of METI (HRP for short). HRP-2 is designed to walk on rough terrain, to prevent the possible damages to a humanoid robot's own self in the event of tipping over, and to get up again for applying it to cooperative works with a human in the open air. In this paper, the mechanical design, the electrical design, the manufacturing method, and experimental results for confirmation of designed specifications are presented.