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Two near-optimal gaits at V = 0.9, D = 2.34 and Fmax = 3 for the springless telescoping biped. (a–c) The non-impulsive analogue of pendular running. (d–f) A hybrid asymmetric gait, with one stance phase pendular and the other stance more compliant. The cost of the second gait is only about 1 per cent more than that of the first gait.
