From ideas to first walking machines

	First legged vehicle	Blueprint of one of the first legged vehicle dated 18th century.
	Steam Man	The first biped walking machine: The Steam Man by Georges Moore in 1893
	Mechanical Horse	Draft of the first quardruped walking machine: The Mechanical Horse by L.A. Rygg, patented the 14th feb.1893, but the machine has never been constructed
	Striding wagon	Draft of baron of Bechtolsheim's Striding wagon,which has never been realized
	Millipede	Millipede, developed during the first World War, was a Walking machine based on the modification of wheels and chains
	Walking tractor	Model of a legged tractor developed by Thring during the first World War

From trucks with legs to modern walking

	Hydraumas III	Hydraumas III win 1st price in technologie at Gala Forces et Avenir 1999 Win 1st place at SAE walking machine decathlon 1999 at École de Technologie Supérieure in Montreal Win 1st place at SAE walking machine decathlon 1998 (the first time a canadian team get the first place!) Win 1st price in design in Atlanta ASME (American Society of Mechanical Engineers) 1998 Win a price of excellence for quality at Championnat mondial de robotique mobile, Bourges, France
	Phoney Poney	Blueprint of Phoney Poney built in 1966. Phoney Pony was the first computer controlled walking machine created by McGhee and Frank at the University of South Carolina.
	Quardruped Walking Truck	The G.E. Quardruped, General Electric Walking Truck by R. Mosher was the first manual controled walking truck. The project was finised in 1968
	1973 Six-legged walking vehicle	1973,Six-legged walking vehicle, Dr.sc.,prof. V.S.Gurfinkel, Dr.sc. A.Yu. Schneider, Dr. E.V. Gurfinkel and coll., Department of Motion control in vital systems and robotics, Institute for Problems of Information, Transmission Russian Academy of Science
	1. Variante Mascha	1977, 1. Variante Mascha, six-legged walking machine, Prof. Devjanin, Prof. Gurfinkelt, Dr. Lensky, Dr. Schneider, Koll, Institute für Mechanik Moskau Universität und Institut für Probleme der Informatinsübertragung an der russischen Akademie der Wissenschaften
	CMU Hexapod	The CMU Hexapod was built in the period of 1980-1983 by Southerland and Sproull. The machine is 2.4m long and reaches a max. speed of 0.11m/s ([Raibert and Sutherland, 83, Sutherland and Ullner, 1984])
	TITAN III	The name is an acronym from "Tokyo Institute of Technology, Aruku Norimono (walking vehicle)". The feet of the TITAN III are equipped with whisker sensors and a signal processing system that is made up of wires with shape memory alloy properties that have super elastic characteristics and it determines the status of ground contact automatically. Moreover, it is also equipped with a posture sensor, and is loaded with an intelligent gait control system called PEGASUS (Perspective Gait Supervisory System) for the purpose of making decisions about the sensor information in an integrated manner, and realizing terrain adaptive static walk. The length of the legs is 1.2 meters and the weight is 80 kg ([Hirose, 1984, Hirose, 1985, Yoneda and Hirose, 1992]).
	OSU Hexapod	The OSU Hexapod was presented in 1977 by McGhee at Ohio State University. Its weight is 136kg ([Ozguner et al., 1984]).
	Mascha	1977,"Mascha", six-legged walking machine, Prof.Devjonin, Prof. Gurfinkel, Dr. Lensky, Dr. Schneider, Institute for Problems of Information, Transmission Russian Academy of Science.
	Odex 1	Odex 1 was presented the first time in 1983. The hexapod was developed by the Odetics Inc., Savannah River Laboratory. (from[M.E.Rosheim, 1994]p.247)
	Collie1	The four legged machine Collie1 was devolped by H. Miura at the University of Tokyo. The machine has 12degrees of freedom ([Miura et al., 1985, Shin et al., 1989]).
	Melwalk3	The six legged walking machine Melwalk3 was developed in 1985 at the Mechanical Engineering Laboratory, Cybernetics Division, at Namiki, Tsukuba Science City, Ibaraki, Japan. It is electro motor driven, has a weight of 35 kg and is able to load 24 kg ([Kaneko et al., 1985a, Kaneko et al., 1985b]).
	OstRover	1985,the six-legged walking machine OstRover with mass 500kg and supervisor control, developped in St. Petersburg, Russia.
	Aquarobot	The machine Aquarobot was developed and constructed from 1985 - 1989, at the Robotics Laboratory, Port Harbour Research Institute, Ministry of Transport, Japan ([Akizono et al., 1989]).
	Attila II	Attila II is a four legged machine, that was developed by the research group of IS Robotics Corporation, Westlake Village, California. It is 35.5 cm long, 20.3 cm high and its width is 30.5cm. With its weight of 1,5kg it can carry a load of about 150g. ([Brooks, 1989, Dechau and Psihoyos, 1991]).

Exosceleton and walking orthesis

	Exosceleton 1948	Exosceleton 1948 of Prof. N.A.Bernstein. Drawing of legs exosceleton with electric drives, which was developped at the Central Research Institute of Prosthetics and prosthesis Design, Moscow, Russia.
	Hardyman	In the 60ies the hydraulically driven Hardyman was developed by General Electric
	Exosceleton, 1970	Exosceleton, St. Petersburg, Russia 1970 with a weight 87 kg
	Exoskeleton 1975	1975, the Exoskeleton by Vukobratovic
	Gehhilfe	Gehhilfe was developed in 1990

Biped machines

	kinematics mock	1964,Mechanism of Chebyshev - kinematics mock -up of a pair of legs, Dr.sc.,prof. A.L.Kemurdjian and co ll., St. Petersburg, Russia
	WAP-1	The anthropomorphic pneumatically-activated pedipulator WAP-1 was developed. In it, artificial muscles made of rubber were attached as actuatiors. Planar biped locomotion was realized by teaching playback control of its artificial muscles.
	WAP-2	In the second model, WAP-2, the powerful pouch-type artificial muscles were used as actuators. Automatic posture control was obtained by implanting pressure sensors under the soles.
	WAP-3	The WAP-3, a refined model of the WAP-2, was able to move its center of gravity on the frontal plane so that it was able to not only walk on a flat surface but also descend and ascend a staircase or slope and trun while walking. The WAP-3 was directed by a controller based on memory and its actuator was driven by PWM. The three/demensional automatic biped walking realized by the WAP-3 was the first in the world.
	WL-5	The mini-computer controlled model WL-5 was developed. It had a laterally bedable body thorugh which it could move it s center of gravity on a frontal plane. Automatic biped walking and the ability to change the direction when it was walking in were made possible through the use of a mini computer. The WL-5 was used as the lower limbs of the WABOT-1 (45sec/step).
	Rikscha	1972 Rikscha,Dr.sc.,prof.E.A.Devjanin, Dr. A.V Lensky, Dr. L.G. Stilman and coll., Institute of Mechanics Moscow Lomonossov State University
	WL-9DR	WL-9DR: Quasi-dynamic walking was realized for the first time in the world by the model WL-9DR which used a 16-bit micro/computer as its controller instead of a mini-computer, enabling versatile control. The number of points the WL-9DR's sole touched the floor was increased from three to four. This, in turn, made the mathematical solution of a particular walking pattern much more easily attainable (10sec/step).
	WL-10R	The model WL-10R, a refined type of WL-10 was constructed, in which the rotary type servo-actuator (RSA) was introduced and carbon-fiber reinforced plastic (CFRP) was used in its structural parts. The WL-10R added one more degree of freedom at the yaw axis of the hip joint. Consequently the WL-10R acquired the function of walking laterally, turning and walking forward and also backward, which are called plane walking (4.4 sec/step).
	Biper	The two legged machine Biper was developed at the University of Tokyo by H. Kimura, M. Mitsuishi, I. Shimoyama and Hirofumi Miura. The machine has 8 degrees of freedom and its energy need is supplied by DC-servos.
	Biped	The machine Biped was developed in 1985 by Jessica Hodgins and Marc Raibert. It is from 0,44 to 0,67 m long and reaches a maximum speed of 1,5 to 4,1 m/s. With its two legs it has got 4 degrees of freedom. The power supply is guaranteed by hydraulic driven actuators.
	WL-10RD	WL-10RD> With this machine Kato and his group focused on developing a new biped walking robot which is able to ascend and descend stairs and slight inclines. By modifiying a preset walking pattern, they managed to get a robot that could climb stairs and inclines in 2 to 5 seconds a step.
	WHL-11	The WHL-11 (Waseda Hitach Leg-11) biped walking robot was developed by Hitachi Ltd. based on the WL-10R and installing a computer and a hydraulic pump. The WHL-11 is capable of static walking on a flat surface at thirteen seconds a step and turning.
	WASUBOT	Wasubot built by Kato and his research group , Waseda University, Tokyo, Japan. Teh robot musician WASUBOT (WAseda SUmitomo roBOT), veveloped by Sumitomo Electric Industry Ltd., is in general the same as the WABOT-2 except that WAM-8s were used its arms and slight refinements were made to facilitate maintenance. The WASUBOT could play a keyboard instrument after reading a music score, and had a repertoire of 16 tunes.
	WL12RIII	In 1985 Kato presented with WL10-RD the first robot of this serie. With WL12RIII he developed 1989 a biped walking robot which is able to walk on a terrain stabilized by trunk motion. By introducing a ``Virtual surface''which is defined by terrain's geometry and feet trajectories, they proposed an algorithm to compute trunk`s trajectory effectively. The WL-12RIII realized 2.6 seconds walking up and down stairs with 10cm height and 1.6 seconds walking on a trapezoidal terrain with an inclination of 10 degrees. Kato and his group developed a walking control method which enables stable walking under unknown external forces and moments by using cooperation motion of a trunk and lower- limbs. They proposed a computation algorithm to compute trunk`s trajectory for external forces and moments and a target landing point of a swing foot to converge trunk's trajectory. The WL-12RIII realized 0.64 seconds stepping motion under an unknown external of 100N wiht 0.3 seconds time width by installing a newly developed controller which is able to compute the algorithm in real time.