Experimental Study of One-Legged Passive Running Mechanism

-Evaluation of prototype of one-legged passive running mechanism based on running data of the animal-

Abstract

In this paper, we introduce a one-legged passive running machine. There are many researches of passive running robot. Although, the theoretical analyses of passive running robot have been researched, the experimental research has not well so far been conducted. We propose a passive running mechanism based on passive running robot model. The proposed robot can run in steps without any actuators and sensors. Moreover, experiment of prototyped one-legged passive running machine demonstrated that it could run in five steps using only potential energy.