Fig. 16From: Virtual-dynamics-based reference gait speed generator for limit-cycle-based bipedal gaitEvaluation of secureness and efficiency a all gaits with VM-SAL achieved respective limit cycles, while the case without VM-SAL (on slope) failed to converge to specific limit cycle; b slightly high \(C_{mt}\) included potential energy to go up the slope. a Phase formed by \((\theta , \dot{\theta }, \dot{\phi })\). b Specific resistance in related to the gait speedBack to article page