Abstract
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. Nel