This article explains a control system, which stabilizes running biped robot HRP-2LR. The robot uses prescribed running pattern calculated by resolved momentum control, and a running controller stabilizes the system against disturbances. The running controller consists of posture stabilization, inverted pendulum stabilization, contact torque control, impact absorbing control, foot vertical force control and torque distribution control. Applying the proposed controller, HRP-2LR could successfully run with average speed of 0.16(m/s) repeating flight phase of 0.06 (s) and support phase of 0.3 (s).

Aiming for a humanoid robot of the next generation, we have been developing a biped which can jump and run. This paper introduces biped robot HRP-2LR and its hopping with both legs as our first attempt towards running. Using a dynamic model of HRP-2LR, hopping patterns are pre-calculated so that it follows the desired profiles of the total linear and angular momentum. For this purpose we used resolved momentum control. Adding small modifications to negotiate the difference between the model and the real hardware, we successfully realized a steady hopping motion of 0.06 [s] flight phase and 0.5 [s] support phase. A hopping with forward velocity of 15 [mm/s] was also realized. Finally, a running pattern of 0.06 [s] flight and 03 [s] support phase was tested. HRP-2LR could successfully run with average speed of 0.16 [m/s].

Aiming for a humanoid robot of the next generation, we have been developing a biped which can jump and run. This paper introduces a method of running pattern generation and running experiment of biped robot HRP-2LR. Based on the physical parameters of HRP-2LR, running patterns are pre-calculated so that it follows the desired profiles of the total linear and angular momentum. For this purpose we used resolved momentum control. The vertical momentum is calculated considering the compliant elements in order to realize accurate flight duration. The horizontal momentum is calculated to satisfy the ZMP patterns given in advance. Using our pattern, HRP-2LR could successfully run with average speed of 0.16[m/s] with repeat flight phase 0.06 [s] and support phase 0.3 [s].

This paper describes a possibility of a running humanoid robot based on the physical properties of an existing humanoid robot HRP-2L. To generate running motion, we develop a general method to control the total linear/angular momentum of a multi-link system. By this method, we can generate a reliable running pattern. Conducting simulations which take into account physical restrictions, we show that our humanoid robot can run at least at 0.5 m/s.

A method of running pattern generation for a humanoid robot using the dynamics of a simple inverted pendulum is proposed. The dynamic simulation using a model of an actual humanoid robot shows that the robot can run by applying a generated pattern with slight modifications. The simulation is used to evaluate the required performance of the actuators for an actual running robot.