Mehdi Ghiassi

On the effect of semielliptical foot shape on the energetic efficiency of passive bipedal gait

This paper studies the effects of varying rollover curvature on the passive dynamic gait of a biped walker. The dynamic model of a compliant biped robot is extended with the implementation of semielliptical feet, to mimic human rollingradius progression during a step. The process of modeling the sem…