Study on mechanism and control of high efficiency running biped robot

In this paper, we improve a running speed of a biped robot by using a control law of a new wobbling mass. In the model of the biped robot, the running speed decreases when using a conventional control law of the wobbling mass. We first describe the conventional running control law of the biped robot and propose a control law that moves the wobbling mass up and down so that the forward direction component of centroid acceleration becomes positive. The effectiveness of the proposed method will be shown by a simulation.