Simplest dynamic walking model with toed feet

This paper presents a dynamic walking model with toed feet that can walk down a gentle slope under the action of gravity alone. The model is the simplest of its kind with a point mass at the hip and two rigid legs each hinged at the hip on one end and equipped with toed foot at the other end. We investigate two cases of the model, one with massless legs and another with infinitesimal leg masses. Rotation of the stance foot about the toe joint is initiated by ankle-strike, which is caused by the inelastic collision of the stance leg with a stop mounted on the stance foot. Numerical simulations of walking show that larger step lengths and higher speeds can be achieved than what is achievable by a point-feet walker of same hip mass and leg lengths. The characteristics of deterministic gait with infinitesimal leg masses is compared with that of nondeterministic gait with zero leg masses. It is shown that deterministic gait does not give maximum speed and efficiency compared to nondeterministic gait with swing leg control. Finally, active dynamic walking of the proposed walker is discussed.