Walking Planetary Gears

erco

I had to study this a moment before I understood & liked it. The coaxial sun & ring gears are driven at different speeds to keep the two legs ( each attached to a planet gear) parallel as they cycle around. Overly complex and inefficient as the walking device shown here, but novel and I'll remember it for future use possibly for a different application.

For instance, Mr Moo here is a bit simpler : http://www.youtube.com/watch?v=Y59JL6-EPnA