Abstract
In this research, flexible structure is used as robot's foot to improve the running motion. At first in this paper we give the model equation of flexible structure, and analyze the flexible foot using computing tools such as DADS, ANSYS and MATLAB. Next, to realize the goal motion pattern motion, we unproved the VCC (Variable Constraint Control) to control the runbot with flexible foot. By simulating the hopping motion in computer, we proved this control method is effective. The result of simulation is showed at last in this paper.
