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This is a repeating animation of the legs in motion with the near legs of each set outlined in blue. A reasonable understanding of the functioning of the linkage can be gained by focusing on a specific point and following it through several cycles. Each of the pivot points is displayed in green. The three positions grounded to the frame for each leg are stationary. The upper and lower rockers move back and forth along a fixed arc and the crank traces out a circle.
The foot travels along a straight line for one-half rotation of the crank and is raised for the second half. This walking motion provides a smooth ride on a flat surface, steps over curbs or obstables, climbs stairs, and can also be used to paddle through water with appropriately designed legs.
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© 2005 Klann R & D, LLC All rights reserved
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