For a biped motion velocity higher than 1.5 m/s, walking cannot be produced by the chosen actuator, but running is possible.
The control law is defined in such a way that only the geometric evolution of the biped configuration is controlled, but not the temporal evolution.
We simply proposed the emotion expression of a fortythree degrees of freedom biped humanoid robot using a parameterization technique.
Subsystem 2 represents the elastic footpad of the biped's leg.
Figure 7 shows the sequence of experimental stick diagrams when the biped ascending the sliping surface.
Figure 10 shows a sequence of experimental stick diagrams when the biped descending stairs.
Actually, the coordination between the biped members causes its movement.
The proposed control method was applied on two different biped robots, and its validity is verified experimentally.
