Abstract
This paper describes elicitation process of the optimum landing motion of a biped robot. Firstly, modeling of the contact between foot and cushioning material is discussed. A nonlinear viscoelastic contact model is introduced with considering of experimental results with human. Secondly in order to calculate the optimal landing process, a criterion consists of a sum of joint forces and torques is proposed. The features of derived optimal landing process is illustrated in comparison with experimental data measured by human landing experiments.
