Abstract
Passive dynamic walk is one of the walking schemes for a biped walking robot. sole shape is an important factor for the stability since it is the point on which a walking robot receives a torque from a floor. A recent study shows that, a specially designed sole shape exhibits constraining effects under overturning situations and thus enhances stability for passive dynamic walk. In recent years, more and more aging people face a risk of accidental fall down during walking. It is expected to support walk stabilization by a natural way without help by others. This research proposes a shoe design to stabilize a human's walk. The sole shape of the shoe is based on a stabilization mechanism for a passive dynamic walk.
