Abstract
Many studies of passive dynamic walking use a circular arc foot. However, a circular arc foot is constrained the walking movement because the transmission of power to ground is difficult. To take a passive dynamic walking in biped walking, the foot which can transmit power to the ground and can perform a passive walk is required. So, we propose the foot that contains circular arc heel, the ankle joint, the toe joint as a foot that takes place of a circular arc foot and verify the effectiveness of this proposed foot by the simulation
