Abstract
To reproduce the legs of a four-legged animal, we adopt as a leg module a telescopic articulated active suspension with the linear motion mechanism constituted by the "compression spring" and "DC motor". Moreover, it is necessary to efficiently reproduce the animal's leg motion in order to increase the moving speed of the robot. In this study, taking into consideration a four-legged running robot with an active suspension mechanism, the telescopic control of the leg with the landing decision reduced bouncing and stumbling of the tip of the leg during running, which improved the moving speed. As a result, turning to the right and left during running was suppressed, and movement speed improved.
