Abstract
Recently, many researchers has studied actively robot which work or support with human. However, their motions are slowly. Therefore we aim to develop the biped walking robot which has legs like a spring and its running algorisms. Generally, conventional robots use ZMP theory for bipedal walking. However, it is difficult for the suggested robot to apply the theory because it includes jumping period in its running. Therefore we suggest a postural control of inverted pendulum via motion of upper body. Furthermore, considering previous problems, I'm verifying the efficiency of the new model (Middle joint drive Double Inverted Pendulum with torsion spring) which including spring in the middle joint.
