Ground Reaction Force of Biped Running by Elastically Hanged Wobbling Mass in Trunk

Abstract

We are simultaneously developing biped walking and running robots based on passive dynamics. In this study, the vertical ground reaction force was different from that of humans in the running robot, which led to the idea of wobbling mass. In this paper, we report here because we have succeeded in developing a ground reaction force closer to that of humans by improving the wobbling mass unit.