To provide a method for designing a one-leg-type passive traveling robot capable of continuing traveling using a model of the one-leg-type passive traveling robot.SOLUTION: A method for designing a one-leg-type passive traveling robot comprises: storing in a computer a model 1 of the one-leg-type passive traveling robot, which is provided with a body part 2 and a leg part 3, a center of gravity arranged at a joint part 4, with an upper end of the leg part 3 rotatably connected to the body part 2 at the joint part 4, with a first spring body 5 having a resilient force corresponding to an angle between the body part 2 and the leg part 3 at the joint part 4, and a second spring body 6 having a resilient force corresponding to compression at the leg part 3; and performing designing according to a simulation in the computer using the model 1 of the one-leg-type passive traveling robot. The method for designing the one-leg-type passive traveling robot allows a stable limit cycle to be developed by performing a simulation satisfying relational expressions for a touchdown phase, a stance phase and a flight phase.SELECTED DRAWING: Figure 1
展开▼
