Effect of non-straight leg frames on gait efficiency in collisionless walking

The authors proposed a basic method for generating a colhsionless walking gait of a non-straight-legged biped and analyzed the fundamental gait properties. This paper then discusses the transfer energy efficiency of the generated gait in terms of specific resistance. Numerical simulations show that energy efficiency can be improved by promoting the asymmetry of the leg shape, and by keeping the positivity of the angular velocity of the reaction wheel during the double-limb support phase.