US Patent 7878276 Ambulatory vehicle

An ambulatory vehicle having legs and configured for transporting a load is disclosed. The ambulatory vehicle includes a load that is able to shift the center of gravity of the ambulatory vehicle along a transverse axis and a longitudinal axis of a beam assembly. Additionally, leg assemblies of the ambulatory vehicle are configured to exchange places along the length of the beam assembly. Further, the vehicle is able to perform a number of gaits including a slow stable gait and faster dynamic gaits comprising striding, trotting, and bounding. The ambulatory vehicle is able to navigate rough terrain and steep slopes and navigate submerged.