Effects of ankle stiffness on gait selection of dynamic bipedal walking with flat feet

This paper investigates the effects of ankle joint stiffness on gait selection of dynamic bipedal walking with flat feet. We present a dynamic bipedal walking model with upper body, flat feet and compliant joints. The model can generate the three common gaits of dynamic bipedal walking. Simulation experiments are carried out to verify the analytical results and provide further results on gait comparison and selection.