International Journal of Robotics Research
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Ostriches are the fastest of all bipedal walking animals, with a knee joint that bends in the opposite direction to the human knee. We investigate the various gaits of a bipedal model of an ostrich, developed according to the notion of passive dynamic walking, and compare them with the walking gaits of a human model. In particular, by controlling the model, we can identify relationships between the leg angles, the walking speed, the trajectory of foot points and the energy consumption. Numerical experiments show that the angle of touching the ground is closer to the vertical for the ostrich model than for the human model, which can be better for high-speed walking.