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Since a conventional biped robot has the feet which consist of soles without toes, it seems difficult to walk naturally. One of the most important firnctions of a biped robot is to walk naturally like human However, for the human being, toe is very important joint in order to walk naturally. lkrdore, for a biped robot, the exktence of toe joint much affects gait pattern generation and contributes to natural walking, which i. v similm to the human gait or f d e r walking like running. In thk paper, a physical structure of a biped robot with toes is developed. The robot has 14 degrees offi-eedom for the legs. In order to veri& the plausibility of the robot design with toes, the effect of the toe joint for gait pattem generation isstudied. The gait pattem of the mbot with toes b w m p d with the gait of a wmmtional bped robot which h soles only without toer by 3 0 paphid simulation.

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