Abstract: A walking beam suspension for use with an agricultural vehicle or robot having a chassis and a plurality of wheels on opposite sides of the chassis. The walking beam suspension generally includes first and second walking beams pivotably connected to the opposite sides of the chassis and a dynamic coupling connected between the walking beams and the chassis. As the vehicle traverses the surface the wheels encounter deviations. The walking beams pivot relative to each other and to the chassis to maintain the wheels in contact with the surface. The dynamic coupling dynamically extends and retracts connections between the walking beams and dynamically pivots and linearly moves a connection to the chassis to reduce the transfer of movement caused by the deviations to the chassis.