Abstract
The authors have proposed a novel gait generation method based on asymmetrization of impact posture using the model of rimless wheel with telescopic legs. In this paper, we attach semicircular feet to this model, and investigate what effect the foot shape had on the gait efficiency. We can expect that the gait efficiency is improved by the geometric and physical effects of feet, and that the excessive speed-up in our previous model is suppressed by the braking effect. In addition, we mathematically investigate the geometric action of the toe support phase on the impact posture, and examine the effect through numerical simulations.
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