Simulation study on one leg jumping for biped running

The fast movement of biped robot can be achieved by the fast walking, but the further fast motion can be achieved only by the biped running. To pursue this target, one leg running robot is modeled, analyzed and developed. First, it is theoretically analyzed in the one and two dimensional sagital plane models, secondly, the derived mathematical model is simulated by digital computers, and finally a 3-axis experimental robot is developed.