Abstract
To design a 3D biped robot, we should consider both of sagittal and lateral planes. Since the 3D biped robot involves two swings in the lateral and sagittal planes, passive dynamic walker in the lateral plane for synchronizing the swinging in the two planes and walks stably in three dimensions. -First, we designed a lateral model that can change radius of curvature of a foot. By changing a cycle of walking steps in the lateral can be controlled. Second, we developed a method of synchronizing two cycles of walking steps in the two planes by changing the radius of the foot. We performed numerical experiment for the model.
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