Patent ID: 8157031

Claim:
A multi-legged walking device comprising: a crankshaft comprising a plurality of main journals and crankpin journals; a plurality of linkage bar mechanisms spaced from and substantially parallel to each other, the linkage bar mechanisms comprising a plurality of frames, each frame being rotatably connected to one of the plurality of main journals, wherein each linkage bar mechanism comprises a connecting bar, a first rocker, a second rocker, and a leg, two ends of the connecting bar are rotatably connected to one of the crankpin journals and the leg, two ends of the first rocker are rotatably connected to one of the plurality of frames and the leg, two ends of the second rocker are rotatably connected to one of the plurality of frames and the connecting bar; a support member fixed to the frames; and a driving device fixed to the support member to drive the crankshaft to rotate; wherein, the legs of the linkage bar mechanisms comprise supporting ends that are arranged at opposite sides of the crankpin journals and are driven by the driving device to reciprocate, causing at least part of the supporting ends at opposite sides of the crankpin journals to contact a support surface at the same time to generate friction to cause the multi-legged walking device to move with respect to the support surface.