A walking machine design originating from observations of insects is presented. The primary concept derived from insects is a leg used to apply force to the body without applying significant moments about the point of body attachment. This is accomplished with legs which have kinematic equivalents to ball-and-socket joints at body attachment and ground contact, with joints in the middle which only change distance between body and ground. Standing and walking with 6 legs of this design requires careful attention to static equilibrium equations but does not necessitate a control system which actively distributes forces to the legs. This paper considers necessary observational data, assumptions on which control is based, mathematical development for control and problems such as foot slip.

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