Limit cycle walker that forms various impact postures using mid-body

This paper develops a new biped walker which can vary the effectiveness of the supporting leg by rotating its mid-body. We change the position of midbody to make different walking modes. We can enable the mid-body have more time to fall down or rise up to make the CoM move more smoothly. We investigate gait properties and make some comparisons at a non-body biped walker. Even though the energy efficiency is low, the walker has a good ability of overcoming slopes. We can even change walking modes when it walks on some complex slopes.