The author has been engaged in studies of biped walking robots and bipedal humanoid robots for 15 years. The author was a technical adviser of the Sony Dream Robot Project from 1997 to 1999, and a technical consultant of the project from 1997 to 2004. The project developed bipedal humanoid robot SDRs and QRIOs. The author is a joint inventor of SDRs and QRIOs. In 2004, the author became an intellectual property right common holder of QRIO Motion Dynamics Technologies. In this paper, the author introduces motion stabilization patent technologies of a legged walking robot made right by Sony Corporation and Jinichi Yamaguchi.