Biped Running Robot Focusing on Human Foot and Leg Mechanism

Abstract

Because the passive dynamical mechanism is supported to play an important role in locomotion, in our laboratory, we are practicing this in the development of both biped walking and running robot. In our laboratory, we aim to develop a biped running robot in a more stable state. In this study, we focused on the human foot and leg mechanism, and we improved the foot and changed Soleus muscle pneumatic drive to gastrocnemius pneumatic drive. In this paper, we report that we realized human-like leg motion and got insights into how to generate human-like ground reaction force.