[Jon Stratis]

G03 probably doesn't really need to be taken into account for most designs. Using gas shocks to counterbalance an arm, for example, still gives the drivers control over the arm itself. Look at the safety aspect of the design, and ask yourself what would happen if the shocks activate while a persons arm or finger was in the way. If the answer is "bad stuff", you might have a problem.

A closed loop gas shock would indicate that the entire gas shock, including the gas inside of it, was a robot part. As such, R37 allows them, as you are deforming the gas (compressing it) to provide the energy.

R78B is simply excluding gas shocks from the pneumatic rules. Specifically, the pressure rating rules. Gas shocks are designed to the proper ratings for their internal pressure based on the actual movement and compression seen in the shock. This could be less then the 125 PSI required by R76.