The asymptotic stability of passive rimless-wheel gaits arises automatically from constraints on impact posture and restored mechanical energy, with the stance-phase stability shown via linearization and tied directly to the energy conservation law.
High-speed dynamic gait generation based on forward tilting impact posture using telescopic legs and forefeet
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Stability Principle Underlying Passive Dynamic Walking of Rimless Wheel
The asymptotic stability of passive rimless-wheel gaits arises automatically from constraints on impact posture and restored mechanical energy, with the stance-phase stability shown via linearization and tied directly to the energy conservation law.