A control method of controlling a mobility device having a plurality of mobility device components including a right hip joint component and a right knee joint component corresponding to a right leg, and a left hip joint component and a left knee joint component corresponding to a left leg, the control method comprising the steps of: providing said mobility device, said mobility device further including a control system for controlling operation of the mobility device components to selectively configure and modulate the hip (102R, 102L) and knee (104R, 104L) joint components to perform a gait cycle; providing within said mobility device a control application to be executed by the control system to control the gait cycle; providing within said mobility device a plurality of sensors to detect a state of the hip (102R, 102L) and knee (104R, 104L) joint components to determine an angular position of the right leg and left leg during the gait cycle; and executing the control application with the control system further to perform the steps of: sensing at least one of an angular position or an angular velocity of a stance leg during stepping during a single support dynamic state of the gait cycle comprising a stepping state in which one leg is swinging while the opposing leg is the stance leg during stepping; determining whether the angular position or angular velocity satisfies an advanced gait threshold; and when it is determined that the angular position or angular velocity satisfies the advanced gait threshold, the control system employs advanced gait control of the hip and knee joint components whereby a determination to initiate stepping is made during a previous single support dynamic state comprising a stepping state in which one leg is swinging while the opposing leg is the stance leg during stepping, thereby initiating a stepping motion in which steps are taken substantially in immediate succession to minimize a duration of double support states in which both legs are in stance between single support dynamic states. providing said mobility device, said mobility device further including a control system for controlling operation of the mobility device components to selectively configure and modulate the hip (102R, 102L) and knee (104R, 104L) joint components to perform a gait cycle; providing within said mobility device a control application to be executed by the control system to control the gait cycle; providing within said mobility device a plurality of sensors to detect a state of the hip (102R, 102L) and knee (104R, 104L) joint components to determine an angular position of the right leg and left leg during the gait cycle; and executing the control application with the control system further to perform the steps of: sensing at least one of an angular position or an angular velocity of a stance leg during stepping during a single support dynamic state of the gait cycle comprising a stepping state in which one leg is swinging while the opposing leg is the stance leg during stepping; determining whether the angular position or angular velocity satisfies an advanced gait threshold; and when it is determined that the angular position or angular velocity satisfies the advanced gait threshold, the control system employs advanced gait control of the hip and knee joint components whereby a determination to initiate stepping is made during a previous single support dynamic state comprising a stepping state in which one leg is swinging while the opposing leg is the stance leg during stepping, thereby initiating a stepping motion in which steps are taken substantially in immediate succession to minimize a duration of double support states in which both legs are in stance between single support dynamic states. sensing at least one of an angular position or an angular velocity of a stance leg during stepping during a single support dynamic state of the gait cycle comprising a stepping state in which one leg is swinging while the opposing leg is the stance leg during stepping; determining whether the angular position or angular velocity satisfies an advanced gait threshold; and when it is determined that the angular position or angular velocity satisfies the advanced gait threshold, the control system employs advanced gait control of the hip and knee joint components whereby a determination to initiate stepping is made during a previous single support dynamic state comprising a stepping state in which one leg is swinging while the opposing leg is the stance leg during stepping, thereby initiating a stepping motion in which steps are taken substantially in immediate succession to minimize a duration of double support states in which both legs are in stance between single support dynamic states.