Abstract
Our 4-legged running robot was designed with anteroposterior asymmetry in its body, so that it has stronger rear legs compared with the fore legs. This time, we aim to describe the robotic behavior and verify the validity of anteroposterior asymmetry in a robotic body using an inverted double pendulum model. If we employ a robotic model composed of two masses, the robot in the air can be described as a free motion of a two-mass system. If the dynamical robot motion is divided into several cases such as fore- leg landing, in the air, and rear-leg landing, and these cases are appropriately switched, the total system while running can be precisely written by a set of these motion equations. In this study, we have verified that the torque necessary for the leg swinging has anteroposterior asymmetry in the body using an inverted double pendulum model. Also, we have shown that robotic running can be described by these models.
