Modeling of the high-speed running humanoid robot

摘要

Recently, there are many researches about bipedal locomotion by humanoid robots. However, the objective of running humanoid robot is not a lots. A modeling of high speed running motion is focused in this paper. Toward to modeling the motion, we focus on the rapid running robot (R <sup xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">3</sup> ), which is high speed running robot, but has not been modeled. To analyze the motion and modeled it, we have developed simulation model on V-REP. Through the comparison experiment on simulator, we confirmed adequacy the constructed mode.