抄録
The purpose of our paper is to design a three dimensional passive walker with spring ankle and flat foot. Some 3D passive walkers have been developed with circular-arc or spherical foot with some passive devices to compensate yaw and roll motions. However, the foot might slip about yaw axis because of low friction. We have developed a flat foot with spring ankle which stabilizes the lateral motion and realized successful walking motion though its stride was small. Thus, the purpose of the paper is to realize another 3D passive walker with flat feet and ankle springs which achieve larger stride and stable walking. Moreover, we clarify relationship between stride, stifness and stability by comparison with conventional researches.
