Examining human walking characteristics with a telescopic compass-like biped walker model

A model for biped walking is proposed. The model has a compass-like mechanism with telescopic type legs, and uses a simple leg stretch-contraction motion pattern. The model with a point shaped foot is able to represent human walking characteristics. A systematic conversion from the point shaped foot to the equivalent of a normal surface foot - resembling the shape that of humans, this extension preserves the same human-like walking characteristics while gaining the benefits of added stability and the reduction of impact forces during foot contact.