High speed running of flat foot biped robot with inerter using SLIP model

Researches on biped walking robot that can work for various purposes are becoming active year by year. Although many biped robots have been developed for a long time, their performances are still far from human natural performance, especially in running speed and energy efficiency. Studies of limit cycle biped robot, which focus on the high speed running and low energy cost, are considered as new approaches. Here, this paper proposes a biped robot mimicking Spring Loaded Invert Pendulum(SLIP) with inerters to improve the running performance.