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Several types of running robots have already been studied and developed. But no one of them could perform gradual transition from stationary state to steady hopping or the reverse way. In order to create a three-dimensional running robot, we study a control method called Variable Constraint Control which can realize various kinds of gaits. First we have realized a motion pattern for an one-leg robot which is expressed as differential equations of characteristic values of the robot. It is an unified method for the control of hopping and stationary state. The motion type is easily switched by chaging the parameters of the equations. This paper presents a control method for a one-leg hopping robot, and relation between the parameters and the motion is discussed. A simulation result of it is showed at the end.

Running Control for 3D Leg Robot Using Variable Constraint Control.