Abstract
This paper describe stability analysis of passive dynamic walking with ankles and toes. Human can walk effectively and stably. This is seems to be due to structure of human foot. Therefore, in this study, we built a passive dynamic walking model with ankles and toes like a form of human foot. We verified the stability analysis of the passive dynamic walking and effectiveness of ankle and toe in the proposed model. The method of stability analysis was performed using eigenvalues of the liner Poincare map. Effectiveness of ankles and toes were verified by using "Roll Over Shape". As a result, it is found that ankles and toes be effective in passive dynamic walking.
