中文摘要：

被动的动态走作为对人的步法的效率的可能的解释被开发了。这份报纸与分割的脚论述一个被动动态走模型，它做更近陪步法到自然似人类的步法的两足动物。建议模型与脚关节关节和脚趾上的基于的依从连接的扁平的脚和扭力的春天的增加扩大最简单的走模型，到完成在严肃驾驶的一个斜坡上的稳定的走。推开阶段在脚趾关节附近并且在脚趾尖端附近包括脚旋转，它显示出大相似到人的正常的走。这份报纸在走在模拟的两足动物上调查分割的脚结构的效果。模型在平或不平的斜坡上完成令人满意的走的结果。

英文摘要：

Passive dynamic walking has been developed as a possible explanation for the efficiency of the human gait. This paper presents a passive dynamic walking model with segmented feet, which makes the bipedal walking gait more close to natural human-like gait. The proposed model extends the simplest walking model with the addition of fiat feet and torsional spring based compliance on ankle joints and toe joints, to achieve stable walking on a slope driven by gravity. The push-off phase includes foot rotations around the toe joint and around the toe tip, which shows a great resemblance to human normal walking. This paper investigates the effects of the segmented foot structure on bipedal walking in simulations. The model achieves satisfactory walking results on even or uneven slopes.