A 2-D passive-dynamic-running biped with elastic elements

Dai Owaki, Masatoshi Koyama, Shin'Ichi Yamaguchi, Shota Kubo, Akio Ishiguro

Research output: Contribution to journalArticlepeer-review

31 Citations (Scopus)


This is the first study of a real physical kneed bipedal robot that exhibits passive-dynamic running (PDR), i.e., a bipedal gait with a flight phase in a device without an actuator. By carefully designing the properties of the elastic elements implemented into the hip joints and the stance legs in this device, we achieved a stable PDR consisting of 36 steps. The main contribution of this paper is the demonstration of PDR in the real world, which fully exploits the elastic mechanical properties.

Original languageEnglish
Article number5685293
Pages (from-to)156-162
Number of pages7
JournalIEEE Transactions on Robotics
Issue number1
Publication statusPublished - 2011 Feb


  • Elastic elements
  • experimental verification
  • passive-dynamic running (PDR)


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