Abstract
Human muscular-skeleton structure is supposed to play an important role for realizing dynamic locomotion such as jumping and running. This paper investigates the effect of humanlike morphology for dynamic bouncing. We use a monopod that has biomimetic muscular-skeleton structure including biarticular muscles and confirm that biarticular muscles strongly governed the posture through bouncing. Experimental results show that restraint between joints by biarticular muscles made coupled movement of whole lower leg and contributed to realization of stable bouncing. Also, asymmetric human muscular-skeleton structure is founded a beneficial effect of directional control of bouncing.
