Abstract
This paper proposes a method to generate running motions for bipedal robots using analytic solutions. There are two phases in running gaits, the aerial phase and the supporting phase. The COG motion is constrained by the ZMP equation in the supporting phase. By adding a weak constraint to the vertical COG motion, the ZMP equation with vertical COG oscillation can be solved analytically. In the aerial phase the COG motion is constrained to a parabolic orbit. This method can generate COG motions simultaneously for both the supporting phase and the aerial phase. The validity of this method is demonstrated with computer simulations.
