抄録
We develop a biped walking model to stimulate student interest in scientific knowledge as well as object-making at elementary and junior high schools. To obtain the model for stable walking, we examine experimentally the influence of leg shape, the leg center of gravity and weight at the top end of arm on its walking time and walking stability. The results indicate that the shifting of the leg center of gravity improves the walking stability. The change in weight at the top end of arm easily controls the walking speed because the body moment of inertia changes with the change in its weight.
