Abstract
This paper describes how the biped robot runs. Many researchers and companies have studied the walking and running of biped robots, and biped robots can now do so easily. Although the theory of walking has been established, no general theory of running has been established yet. A software program developed using MATLAB based on the walking theory will provide the foundation of running theory. Simulations based on the theory of walking were carried out using visualNastran4D software.
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