1976-9 “ReCUS” Underwater Walking Machine – Ishino et al (Japanese)
from "Walking robot with a circulating gait – Intelligent Robots and Systems – IROS 90. by JE Bares Perhaps the simplest walkers that can travers rough terrain are frame-type walkers. An example is the Komatsu underwater octopod. ReCUS, which consists of two rectangular frames, each with four telescoping legs – the machine walks over rough …
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