Chebyshev Walking Machine
Chebyshev's walking machine is based on the four-bar linkage bearing his name.[more]
This linkage is a crank-rocker mechanism with a ground bar of length , a crank of length , a rocker of length 1, and a coupler of length 2. With this geometry, in the lower part of its path the endpoint of the linkage follows a quasi-rectilinear motion with almost constant speed .[less]
Some working walking machines can be found at http://cyberneticzoo.com/?page_id=164.
 A. B. Kempe, "How to Draw a Straight Line; a Lecture on Linkages," Cornell Historical Math Monographs, London: Macmillan and Co., 1877.
"Chebyshev Walking Machine"
Wolfram Demonstrations Project
Published: November 5 2012