Abstract
This paper investigates active dynamic skipping of a planar telescopic-legged rimless wheel. Our model achieves stable limit-cycle skipping only by a simple extension control of the stance leg. We first generate a stable skipping gait by adjusting the desired settling time for the leg-extension control. We then analyze the gait efficiencies by comparing with those of walking and running gaits. Furthermore, we realize the transition from skipping to running gait by adding the ankle torque during skipping.
