Abstract: Disclosed is a drive assembly for providing a drive for a device, such as a vehicle or an advancing device such as a conveyor. The drive assembly includes a frame; a motor fixed relative to the frame for driving the drive assembly; at least two drive members providing a transmission interface between the drive assembly and a ground surface or a conveyor for driving; and at least one movement control assembly per drive member. The movement control assembly is coupled to the motor and at least one drive member, and provides movement control of the respective drive member relative to the frame.

Abstract: The present invention provides a circuit system for data transmission between LPC devices, comprising: a first LPC bus, connected to a first LPC device; a second LPC bus, connected to a second LPC device; and an LPC host controller, able to drive the first LPC device through the first LPC bus and the second LPC device through the second LPC bus; wherein the LPC host controller further comprises an address register. The present invention further provides a method for data transmission between LPC devices, comprising the steps of: starting a first cycle through a first LPC bus by an LPC host controller, wherein a first LPC device sends a request to have a transaction with a second LPC device, and inserting a plurality of wait states after the request is received by the LPC host controller; and starting a second cycle through a second LPC bus by the LPC host controller, wherein the LPC host controller has a transaction with the second LPC device according to the request from the first LPC device.

Abstract: A leg mechanism for a walking machine including a plurality of links arranged in a pantograph mechanism, which links are able to fold past each other so that the legs can tuck in close to the body, permitting a machine to which such legs are attached to have a small profile so that it can maneuver in areas that are as small as a human being can maneuver in.

Abstract: A leg mechanism and horizontal actuator therefor comprising a frame member, first, second, third and fourth elongate links arranged in a pantograph mechanism, with one corner of the pantograph providing the main mounting point for the leg mechanism, a pair of crank arms connected to two of the links and extending approximately perpendicular to the ends thereof adjacent the main mounting point, and a drive member connected between the first and second crank arms for controlling the angle therebetween.

Abstract: A vertical actuator mechanism for the legs of a walking machine, including four links arranged in a pantograph mechanism, with one corner of the pantograph providing the main mounting point for each leg, which permits the use of swinging links in the vertical actuator mechanism and retains complete isolation between the vertical and horizontal drive mechanisms. Vertical actuation of the pantograph mechanism is accomplished by means of a pair of long, swinging struts connected between a drive nut mounted on a lead screw and a point on the pantograph mechanism. The struts are connected to the pantograph mechanism at a location other than the true pantograph point, the point being selected so that the foot moves approximately linearly as the strut pivots around the drive nut.

Abstract: A walking working vehicle has a plurality of separate, movable feet positioned along side portions of the vehicle. Elements are provided for connecting each foot to the frame and the power source for controllably moving each foot in a preselected manner sufficient to move the vehicle along the ground at a substantially constant velocity and maintain the frame of the vehicle substantially parallel to the ground.