A new type of walking machine

This thesis introduces a new type of walking machine that appears promising due to its relative simplicity and efficiency. After an introduction to a selection of previous walking machines, the new machine’s history, advantages, operation and a method for solving its kinematics are given. Early attempts to optimize the mechanism to a range of criteria are described and their shortfalls exposed. A second attempt to optimize the leg geometry by genetic algorithm is detailed and the results of this search discussed. A mechanics model of a hypothetical machine is developed from first principles and the implications of the analysis described. Stability limits and tractive abilities of the machine are explored. A method for determining the loads on the links that constitute the leg and the vehicle chassis is given. A series of prototypes has been constructed and discussions of these machines are given. The most recent prototype is used in a pair of experiments to validate the kinematic and kinetic models. The experimental method, a statistical analysis of results and a discussion are provided for each. The thesis concludes by considering what work remains to be done before a practical cargo carrying transport walking machine can be designed.Prof. A.L. Ne