Abstract: Multiple slotted drive disks are secured in parallel relationship to a drive shaft. The slots are radially arranged and the slots of each disk are aligned. Movable rods are received in the slots. A slotted driven disk is secured to a driven shaft, which driven shaft is parallel to the drive shaft. The drive and driven disks are arranged in parallel intersecting relationship such that the rods will be received in the slots of the driven disk through a portion of the revolution. Relative movement is effected between the shafts via the rods. The relationship of angular velocity between the shafts is kept constant and an infinite torque converter is provided.

Abstract: A vehicle with articulated legs is provided for movement across a surface or through water. Each of the legs is adapted to move in at least two planes with reference to vehicle balance. The movement of the legs is controlled sequentially to effect movement over an uneven surface while maintaining the vehicle balance.