Theo Jansen's Strandbeest, a group of planar walking mechanisms.
A leg mechanism (walking mechanism) is a mechanical system designed to provide a propulsive force by intermittent frictional contact with the ground. This is in contrast with wheels or continuous tracks which are intended to maintain continuous frictional contact with the ground. Mechanical legs are linkages that can have one or more actuators, and can perform simple planar or complex motion. Compared to a wheel, a leg mechanism is potentially better fitted to uneven terrain, as it can step over obstacles.[1]
An early design for a leg mechanism called the Plantigrade Machine by Pafnuty Chebyshev was shown at the Exposition Universelle (1878). The original engravings for this leg mechanism are available.[2] The design of the leg mechanism for the Ohio State Adaptive Suspension Vehicle (ASV) is presented in the 1988 book Machines that Walk.[3] In 1996, W-B. Shieh presented a design methodology for leg mechanisms.[4]
The artwork of Theo Jansen,[5] see Jansen's linkage, has been particularly inspiring for the design of leg mechanisms, as well as the Klann patent, which is the basis for the leg mechanism of the Mondo Spider.
^Ghassaei, Amanda (20 April 2011). The Design and Optimization of a Crank-Based Leg Mechanism(PDF) (Thesis). Pomona College. Archived (PDF) from the original on 29 October 2013. Retrieved 27 July 2016.
^P. L. Tchebyshev. Plantigrade Machine Engraving. stored in the Musée des arts et métiers du Conservatoire national des arts et métiers Paris, France CNAM 10475-0000.
^ S. M. Song and K. J. Waldron (November 1988). Machines that Walk: The Adaptive Suspension Vehicle. The MIT Press. ISBN 9780262192743.
^W. B. Shieh (1996). Design and Optimization of Planar Leg Mechanisms Featuring Symmetrical Foot-Point Paths (Thesis). PhD Dissertation, The University of Maryland.
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