Abstract
We investigated relation between walking-efficiency and leg shape using passive dynamic walking simulator on lateral plane. The biped robot with circular foot has 4 D.O.F. Mass on waist was existed and CoG of each legs can be moved. Joints with virtual spring-damper model generate reaction force when angle of joints rotates more than desired angle. Five kinds of leg shape on limit cycle were searched by Genetic Algorithm. These bipedal robots were compared in term of kinetic energy and migration distance. We discuss about a design method of leg shape.
