Abstract
In late years, Several types of running or walking robots have already been studied and developed. However, there is no robot which runns with spine joints. Our Runbot Project team has already created a robot 'Runbot2C' which succeeded walking motion and running motion in three dimentional plane using a piece of robot Therefore, we have .developed a new running skill for 'Runbot2C' using spine joints.ln this skill, we just use simple PD control.
