The development of a walking machine for forestry use (III) : The mechanisms for walking on a slope

Abstract

A four-legged walking-machine that has a shaft for four cams with π/2 phase differences is proposed. This mechanism shortens the time of returning an elevated leg forward, and simplifies the automatic-controlled systems. It is advantageous to walking speed, operation, and energy efficiency. We put the mechanism of sliding the fulcrum of the legs according to the degree of slopes into a model of this cam-type walking machine. It could walk on a slope with same strides. This model can raise all legs on a swampy land, and can walk straight by rods, which transmit the power and phase from the cam shaft to the legs. These are attached with rubber crawlers similar to the walking style of a cross-country skier.