SUMMARYThis paper investigates the efficiency and properties of limit cycle walking, running, and skipping of a planar, active, telescopic-legged rimless wheel. First, we develop the robot equations of motion and design an output following control for the telescopic-legs' action. We then numerically show that a stable walking gait can be generated by asymmetrizing the impact posture. Second, we numerically show that a stable running gait can be generated by employing a simple feedback control of the control period, and compare the properties of the generated running gait with those of the walking gait. Furthermore, we find out another underlying gait called skipping that emerges as an extension of the walking gait. Through numerical analysis, we show that the generated skipping gaits are inherently stable and are less efficient than the other two gaits.
