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Bipedal running can easily result in a fall due to poor availability of the ground reaction force at the boundary of the flight and support phases. We propose methods to decompose and synthesize a running gait pattern into vertical, horizontal and rotational components so that time-dependent ground friction limits are satisfied. We also extend previously proposed boundary condition, the divergent component of motion, for switching walking gait patterns into running which involves vertical acceleration of the center of gravity. Using these techniques, running at 10 km/h is achieved on a real robot whose dimension are same as ASIMO.
Takenaka et al. (Thu,) studied this question.