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This paper investigates the effect of foot shape on biped locomotion. In particular, we consider planar biped robots whose feet are composed of curved surfaces at toe and heel and a flat section between them. We developed an algorithm that can optimize the gait pattern for a set of foot shape, walk speed and step length. The optimization is formulated based on the rigid-body and collision dynamics of the robot model and tries to minimize the ankle torque. We also divide a step into two phasesdoi:10.1109/ichr.2009.5379576 dblp:conf/humanoids/YamaneT09 fatcat:qscfsgpjyjfdncb5mkq3cccnb4