This paper describes the vibration characteristics of glass fiber reinforced polymer (FRP) footbridges having the rigid-jointed truss system with a span of 32m. The force-time history of pedestrian in walking and jogging modes is arranged as a set of parameters suitable for finite element analytical modeling. Comparsion with steel truss footbridges, the FRP ones are easy to vibrate in horizontal direction due to a 700N test pedestrian model, but it would also be reduced by changing only a few specific members into carbon FRP shapes.