Recently, a lot of researches for bipedal locomotion have been conducted. The high-speed running, which means that a Froude number is more than 1 so the robot can conduct only it, has not been achieved until now. In this research, we develop a humanoid robot that achieves the high-speed running, named rapid running robot (R3). The development and control of this robot need an accurate model to analyze the robot's locomotion. We then model R^3 after a real robot, which has already achieved the running, in a dynamic simulator V-REP.
