A prototype foot shape for human-like walk of humanoid robot

A human being utilizes its singularities to achieve natural walking. However, most humanoid robots cannot utilize their singularities while walking. It seems that one of the reasons of this is their flat foot shape, which makes it difficult to perform human-like push-off motion. In this paper, we design a new prototype foot shape of humanoid robot for human-like walk. Experimental results show the effectiveness of the prototype foot shape.