Analysis and design of running robots in touchdown phase

In order to create a running and jumping quadruped robot composed of all articular joints, we have developed a mono-leg robot which simulates the landing and lift-off motions of kangaroos. From the photograph data of the gait motion of a kangaroo, time responses of four fundamental variables are approximated by solutions of second or first order differential-equations. Then we proposed a control strategy of the robot which realizes these differential equations as controlled constraints. Experimental results show that a running mono-leg robot is produced which has a smooth jumping gaits.