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This paper proposes a foot shape design to enhance the stability of passive  dynamic walk by constraining fall down phenomenon in both sagittal and  lateral planes. We focus on excessive side-to-side and forward leg swinging  that causes a passive dynamic biped walker to fall over. Geometrical  analysis showed that stability under a wide range of slope inclinations is  achievable by limiting the swinging leg spatially to within a certain angle.  Such a limit, or constraint, on swinging effectively prevents falling down  on the lateral plane, while stable walking is maintained on the sagittal  plane by constraining forward movement using a sharp edge at the head of a  foot. We propose a foot prototype realizing these two constraints using a  three-dimensional (3D) sole design and show that the proposed constraint is  more effective for walking than an arctic foot shape. In verification  experiments, the constraint stabilized the passive dynamic walker in a wide  range of outdoor environments.

Stabilizing Passive Dynamic Walk Under Wide Range of Environments by Constraint Mechanism Fitted to Sole of Foot