Abstract: The present invention provides a means for limiting the hip and elbow movement in a reciprocating leg so as to simulate the gait of a walking animal. This is accomplished through the use of one or more arcuate guides which control the hip and elbow movement of the reciprocating leg.

Abstract: The present invention provides a walking device adapted to simulate a gait of a legged animal. The walking device includes a frame, a leg, an upper and lower rocking arms, a connecting rod and a crank all of which are axially interconnected together. The rocker arms and crank are axially mounted to the frame in a triangular spatial relationship. The cranking link is axially mounted to the frame in cooperative association with a suitable power source and operatively linked to a connecting rod which serves to transmit power from the crank to the interconnected linkages of the walking device. The leg has a hip joint at one leg end axially connected to the upper rocker arm, a foot attached to an opposite leg end and a knee joint axially connected to the connecting rod which is axially connected at an opposite connection rod end to a crank rod of the crank. The lower rocker arm at an end opposite from its axial frame mount is axially connected to a centrally disposed elbow linkage of the connecting rod.

Abstract: The invention provides a walking device which stimulates a gait of a legged animal. The device includes a frame with spaced axial mounts, a leg, axially connected upper and lower rocker arms which limit reciprocating leg motion. The leg is driven by a connecting arm powered by a rotating crank. The position and configuration of the axial connecting sites establish a prescribed orbital path that the foot undertakes with each revolution of the crank. Both rocker arms and the crank are axially mounted to the frame. The leg has a hip joint axially connected to the upper rocker arm for limiting hip motion, a foot and a knee joint axially connected to the connecting arm. The connecting arm has three axial connecting sites, one for connecting to the knee, another to the crank, and a third connecting site defined as a centrally disposed elbow joint connecting site which connects onto the lower rocker arm and limits knee joint motion.