抄録
In this paper, we consider an effect of a foot shape that is expressed by a convex function on the passive dynamic walking. First we explain how to parameterize the foot shape. We determine a foot shape by using second order Bezie curve, because second order Bezie curve is easy to control a form. Secondly we realize the passive dynamic walking on a shallow slope with a biped walking robot that has a foot shape determined by second order Bezie curve and show an effect of a change of the foot shape. Finally we optimize the foot shape by moving the control point of second order Bezie curve in a parameter region.
