Abstract
In this paper, we consider effects of a feet in various convex shapes to performance of underactuated passive dynamic walking. First, a coordinate system to define the foot shape is introduced and the relationship between a foot parameter and an angle of the leg is derived. Secondly, the virtual ankle-joint torque is derived from the equation of motion. Finaly, we propose a method to design convex foot shapes that attain desired virtual ankle-joint torques and verify the accuracy of generated virtual ankle-joint torques by numerical simulation.
