Assertion: kneed biped | /r/HasAspect | work-free gaits
Facets:
Source sentences:
text: Similar to the springy telescoping biped, the springy kneed biped has work-free gaits in which the muscle remains exactly isometric throughout the stance phase, while the springy tendon performs negative work first (stretches) and positive work next (shortens), redirecting the centre of mass velocity from down to up.