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Hi friends
as you see the above picture, I implemented some contact between foot and ground. Now I don't know what value assign the contact parameters. I want to know if what value get to parameters including stiffness, dissipation, static friction, dynamic friction, viscous friction

This is highly dependent on your own research question. A place to start would be to look at previous studies in literature and see what they have chosen. Just a couple examples below (you should look for more for your own use case):
Walking: https://www.frontiersin.org/articles/10 ... ort=reader
Drop landing: https://www.sciencedirect.com/science/a ... 9016311563

Dear Carmichael
Is it possible for you to set the Skype meeting and I show my problem in simulation?