抄録
One of the methods known to stabilize a passive dynamic walk is to restrict a hip joint angle. This effects as resetting the walking dynamics every time at the beginning of the walk. A Constraining Foot Shape is known to give the same effect by a more compact configuration. However, it was not clear how much this dynamics resetting effect will be given for a specific design parameter such as a length of the foot. This paper shows a numerical approach for mis. Firstly, we show a dynamics of walking by 2D stick model with foot length. This is realized by considering a support point exchange effect. Secondly, we show a simulation results by this model. From mis, we show that a longer foot will give a more strong effect of resetting walking dynamics. Finally, we demonstrate the validity of this model by making an actual hardware of 2D stick model with foot length. In this model, a scaffolding effect was avoided by using landing islands on a slope.
