In this paper, we focus on the study of the simple Compass-like biped robot with controlled flat feet which can improve the stability of the dynamic walking under complex road conditions. A hybrid dynamic mathematical model of this biped robot based on the passive dynamic walking is modeled. Particularly, the hip-locked strike is proposed from the bionic perspective. The dynamics and energy efficiency of this kind of biped locomotion are analyzed. Then the energy consumption affected by foot length and slope angle during stable walking is analyzed to obtain the optimum ratio of foot length to leg length. It is proved by simulations that, in certain extent, the walking efficiency is proportional to the length of foot.
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