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It was clarified that limit cycle walkers with redundant free joints generate the measurable periods of double-limb support (DLS) through numerical simulations and experiments. This paper then conducts numerical analyses to examine the effects of non-instantaneous DLS motion on the gait properties such as stability and energy efficiency. First, we divide the gait cycle into the collision and the stance...
Through modeling and analysis of a rimless wheel with active knees and semicircular feet, we showed that measurable period of double-limb support (DLS) emerges immediately after landing of the fore leg as in the case of a telescopic-legged one. In this paper, we extend the analysis to an underactuated biped model only with revolving joints and investigate the potentiality of the emergence of DLS motion...
The authors have studied the roles and effects of double-limb support (DLS) motion whose the time interval is measurable in limit cycle walking. It was clarified that DLS motion emerges in passive dynamic walking of a viscoelastic-legged rimless wheel through numerical simulations and experiments. This paper then investigates the potentiality of the emergence of DLS in a kneed limit cycle walking...
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