Dimitry Gorinevsky

MASHA, a six-legged walking machine built circa 1980, was a joint project of Moscow State (Lomonosov) University and USSR Academy of Science. MASHA.mp4, 13Mb, is a 1986 movie of my work on active control of foot forces when walking on soft soil (moondust). The system is statically indeterminate and the foot load distribution can be controlled. More detail are in our IJRR paper. The original 35mm film was transferred to PAL/SECAM then to NTSC then to WMV with some unfortunate loss of quality.