Experimental analysis of 3D passive dynamic walking: Body's shape, CoM and stability

In the paper, we consider stability of three dimensional passive dynamic walking for various length of leg, CoM position and foot inclination, etc, through experiment. As a result, we realized stable walking by adjusting balance position so as to adjust position of center of total mass which is varying with respect to leg length. We also found that there is a tendency for a biped to walk well if CoM position is kept constant regardless of leg length for the same foot shape. Unstable tendency for walking with long stride had been already known for flat feet model. The result showed the same tendency for spherical feet model.