1976 – KUMO-I 4-Legged Walking Machine – Hirose & Umetani (Japanese)

Research on Quadruped Walking Machines     KUMO-I (1976, see photo above), PV-II (1978-1979, see here). The method of locomotion called "walking" requires considerably more actuators than the wheel me thod of locomotion, the drive system is heavy; and it is not simple to control. However, walking machines, because they can move while separately selecting the point …