Abstract
Electromagnetic motors are useful actuators for robots due to good controllability and low cost. But, usually electromagnetic motors together with reducers of high reduction ratio are used to actuate robots. It is difficult to realize creature-like dynamic motions such as fast running, high jumping, by the robots due to low backdrivability of joints. To solve the problem, a robot with leg mechanisms consisting of spring and damper inspired by bi-articular muscle-tendon complex of animals, has been developed. As the result of experiments for dynamic motion, trot running at a speed of 3.5 kilometers per hour and forward jump about 1 body length per jump have been realized by the robot.
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