@inproceedings{oai:fun.repo.nii.ac.jp:00005229,
 author = {Hyodo, Kazuyuki and MIKAMI, Sadayoshi and Narikiyo, Tatsuo and Kawanishi, Michihiro},
 book = {SICE Annual Conference 2010},
 month = {Aug},
 note = {This paper proposes a foot shape design to enhance stability of passive dynamic walk, by constraining fall down phenomenon in both saggital and lateral planes. From geometrical analysis, we found that stability under a wide range of slope inclinations will be achieved by limiting swing legs spatially in a certain angle. We also found that the limiting leg's angles, we call constraint mechanisms, are achieved by a certain type of a 3D sole shape, which provides stability in a compact size. We show the turning motion for a passive dynamic biped walker with constrained mechanisms.},
 pages = {2804--2806},
 publisher = {SICE},
 title = {Turning Motion by Control Constraint Mechanism of Passive Dynamic Walking},
 year = {2010}
}