Control of under actuated biped running robot via synchronous oscillator

In this paper, we propose a control method which is adaptive to the environment and does not dependent on dynamic models, and apply it to a biped underactuated robot named ldquoKenkenIIrdquo which have springs mimicing tendon system of animals, so that KenkenII can run stably from zero-velocity on irregular terrain. In the proposed method we use synchronous oscillators which are called ldquoMutually Inhibiting Neurons with Adaptationrdquo that synclonize robotpsilas motion, and some adjustment feedback based on physical dynamics of robots is included. Each parameters is seached by PSO(Particle Swarm Optimization) and the validity is conformedmed by numerical simulation.