Abstract
The purpose of our paper is to design a three dimensional passive walker with ankle springs and flat feet. Some 3D passive walkers have been developed with circular-arc or spherical foot with some passive devices to compensate yaw and roll motions. However, the foot might slip about yaw axis because of low friction. We propose a flat foot with ankle springs which stabilizes the roll motion, and give a design method for the spring stiffness. Moreover, we prospect an effect of synchronization between the swing leg and lateral motion. Finally, we verify its effectiveness through experiments.
