Abstract
This paper validates a biped robot gait with tiptoe mechanism. Five tiptoe mechanisms were proposed. The robot gait was optimized using the simulated annealing. The robot with tiptoe could walk longer than the robot with no tiptoe. Moreover, center-of-gravity movement of the robot with tiptoe also became smooth. However, model 3 and model 4 could not walk straight. This problem was improved by adding a thumb to mechanism. The number of joints and thumbs are important to walk stable.
