Walking machine

Abstract

A steerable walking machine is described which comprises a leg mechanism that provides a means for locomotion of the machine across a surface and a head rotatably mounted upon the leg mechanism. The rotational position of the head upon the leg mechanism acts to defines a direction of locomotion of the machine across the surface. The steerable walking machine can therefore walk in any direction without requiring the leg mechanism to turn and so can maneuver in more confined spaces than those devices known in the art. A first motor is employed to control the leg mechanism while a second motor controls the rotation of the head upon the leg mechanism. The functionality of the steerable walking machine is therefore achieved through the employment of only two motors thus significantly reducing the manufacturing costs involved.

What is claimed is: 
     
         1 . A steerable walking machine comprising a leg mechanism having four or more flexible legs the operation of each being driven by a first motor to provide a means for locomotion of the machine across a surface and a head rotatably mounted upon the leg mechanism, the rotational position of the head upon the leg mechanism being controlled by a second motor, wherein the rotational position of the head upon the leg mechanism defines a direction of the locomotion of the leg mechanism of the machine across the surface. 
     
     
         2 . A steerable walking machine as claimed in  claim 1  wherein the leg mechanism comprises two or more flexible legs the operation of which is controlled by a first leg operating mechanism. 
     
     
         3 . A steerable walking machine as claimed in  claim 2  wherein the flexible legs controlled by the first leg operating mechanism are equally spaced around the leg mechanism. 
     
     
         4 . A steerable walking machine as claimed in  claim 1  wherein the leg mechanism comprises two or more flexible legs the operation of which is controlled by a second leg operating mechanism. 
     
     
         5 . A steerable walking machine as claimed in  claim 4  wherein the flexible legs controlled by the second leg operating mechanism are equally spaced around the leg mechanism. 
     
     
         6 . A steerable walking machine as claimed in  claim 4  wherein the flexible legs controlled by the first and second leg operating mechanism are located alternatively around the leg mechanism. 
     
     
         7 . A steerable walking machine as claimed in  claim 2  wherein the first leg operating mechanism acts to rotate a surface engaging end of the flexible legs. 
     
     
         8 . A steerable walking machine as claimed in  claim 4  wherein the second leg operating mechanism acts to rotate a surface engaging end of the flexible legs. 
     
     
         9 . A steerable walking machine as claimed in  claim 8  wherein the rotation of the surface engaging ends of the flexible legs provided by the first and second leg operating mechanisms are of the same sense. 
     
     
         10 . A steerable walking machine as claimed in  claim 8  wherein the rotation of the surface engaging ends of the flexible legs provided by the first and second leg operating mechanisms are half of one cycle out of step with each other. 
     
     
         11 . A steerable walking machine as claimed in  claim 4  wherein the first and second leg operating mechanisms are driven by the first motor. 
     
     
         12 . A steerable walking machine as claimed in  claim 1  wherein the leg mechanism comprises three flexible legs the operation of which is controlled by a first leg operating mechanism. 
     
     
         13 . A steerable walking machine as claimed in  claim 1  wherein the leg mechanism comprises three flexible legs the operation of which is controlled by a second leg operating mechanism. 
     
     
         14 . A steerable walking machine comprising a leg mechanism that provides a means for locomotion of the machine across a surface and a head rotatably mounted upon the leg mechanism wherein the rotational position of the head upon the leg mechanism defines a direction of locomotion of the machine across the surface, wherein the head comprises a support frame having a perimeter section and a rotatable disc located therein. 
     
     
         15 . A steerable walking machine as claimed in  claim 14  wherein the support frame further comprises two or more fixed legs depending from the perimeter section which provide an attachment means for the flexible legs. 
     
     
         16 . A steerable walking machine as claimed in  claim 15  wherein flexible legs are pivotally attached to the two or more fixed legs. 
     
     
         17 . A steerable walking machine as claimed in  claim 14  wherein the support frame further comprise two or more attachment points located on the perimeter. 
     
     
         18 . A steerable walking machine as claimed in  claim 14  wherein a locomotion control mechanism is mounted on top of the rotatable disc. 
     
     
         19 . A steerable walking machine as claimed in  claim 18  wherein the locomotion control mechanism comprises a lever drive mechanism arranged to pass through an aperture in the rotatable disc. 
     
     
         20 . A steerable walking machine as claimed in  claim 19  wherein the lever drive mechanism is pivotally mounted to a support structure located upon the rotatable disc. 
     
     
         21 . A steerable walking machine as claimed in  claim 19  wherein a multi armed joint mechanism is attached to a distal end of the lever drive mechanism. 
     
     
         22 . A steerable walking machine as claimed in  claim 21  wherein the multi armed joint mechanism comprises an arm suitable for attachment to a flexible leg. 
     
     
         23 . A steerable walking machine as claimed in  claim 21  wherein the first and second leg operating mechanisms are configured to translate movement of the multi-armed joint surface engaging ends of four or more flexible legs. 
     
     
         24 . A steerable walking machine as claimed in  claim 21  wherein the lever drive mechanism is arranged to rotate relative to the multi armed joint mechanism upon rotation of the rotatable disc. 
     
     
         25 . A steerable walking machine as claimed in  claim 1  wherein the steerable walking machine comprises one or more accessories selected from the group of accessories comprising a suction dart gun, a crane and a magnetic pickup. 
     
     
         26 . A steerable walking machine as claimed in  claim 1  wherein the head accommodates one or more light sensors. 
     
     
         27 . A method of controlling the operation of a steerable walking machine the method comprising the steps of:
 employing a first motor to drive four or more flexible legs of a leg mechanism to provide a means for locomotion of the walking machine across a surface; and   employing a second motor to select a rotational position of a head mounted upon the leg mechanism thus defining the direction of locomotion of the leg mechanism of the walking machine.