Abstract
In this paper, sustainable gait for a rimless wheel with joints is generated on a level ground, in which mechanical energy lost by heel strike is restored by kicking a ground. For the rimless wheel two kinds of period-doubling gait generation methods are proposed. First, period-two gait is generated by different energy restoration, in which each hip angle is the same value. Next, period-two gait is caused by different impact posture, that is, different hip angles when energy restoration by kicking the ground is constant. These methods separate effects of different energy restoration and asymmetricity for period-doubling gait. In the case of asymmetricity, it is shown that period-two gait is less efficient than period-one gait analytically.
