抄録
Recently, the animal type robots are widely developed. However, the rapid and smooth motion represented for the jump operation is difficult in the conventional animal type robot. The animal can jump easily compared with robot. It is because there is bi-articular muscle, which affects two joints simultaneously, that the characteristics of animal's leg are not equipped in the robot mechanism. The animal of running contains action of hanging in the air during the operations. It can be considered that the running of animal correspond to continuous jump. In this study, we focus attention on difference of motion mechanism of characteristics of animal and robot. We aim to realize running making use of robot by muscles.
