The text is at the end of the chapter.
The site : http://cyberneticzoo.com/?page_id=164 is comprehensive.
I - WALKING MACHINES BEFORE 1940
II ONE LEG ROBOT
II - TWO LEGS WALKING MACHINES
III - THREE LEGS WALKING MACHINES
IV - FOUR LEGS WALKING MACHINES
V - SIX LEGS WALKING MACHINES
VI - HYBRID WHEELED AND LEGGED WALKING MACHINES
Walk-roll principle of Von Sybel and Grosse-Scharman, 1961, conceived a vehicle with wheels that roll and then locks the wheels and pull them with a hydraulic actuator. Mobility is a little increased. http://lib.tkk.fi/Diss/2007/isbn9789512288786/isbn9789512288786.pdf
PDF : Walking rolling vehicle hans von sybel (1.47 Mo) from From the book : Mechanics of soil vehicle systems, Torino 1961
«КШМ» Running Mock-up with a wheel-walking using a Chebyshev wheel-walking mode which may be realized by successive movements of the wheel axles and the robot’s body. This wheel-walk system was used on other robots like Marsohkod, Hylos or Toolkit of Collineo. See chap 'Robot Locomotion'. Mass 320kg, speed 0,9 km/h, in walking mode 0,15 km/h, maximum slope in wheel mode 18° and in wheel-walking 34 °. From : http://www.enlight.ru/ib/tech/vtm/vniitm.pdf
ANT I, early 90s, from DRES, Alberta, Canada, was an articulated vehicle with driven legs. It was conceived for stepping, bridging or crawling. From pdf of Carl Steeve.
Articulated Navigation Testbed ANT II, late 90s, used powered wheels at the end of powered legs. By lifting a leg over obstacle, ANT could traverse extreme terrains. From DRES, Alberta, Canada.
Polar Rover Chassis, 1995, has been a widely adopted platform for arctic exploration, using an inching system. From Thesis of Carl Steeves, McGill University, Montréal
VII - HOPPING MACHINES
VIII - HYBRID LEGS AND TRACKS MACHINES
IX - WALKING DRAGLINE SYSTEM MACHINES
X - BIG WALKING MACHINES
Man always wants to create machines to move in his own image or that of animals. Oddly, the old dream of flying like a bird materializes first. He wants also to build 'walking machines' featured with legs, like animals. His goal ? Be able to imitate the cat climbing on to the trees, the cockroach travelling spaces littered with obstacles or the ibex (photo 1) prancing on the mountain slopes. The idea is really to go places inaccessible to him, and his eyes, a legged machine, equipped with 'lever-legs' that can overcome obstacles, represents an ideal of mobility all-out. In fact, there is nothing in.
For fifty years, the 'walking machine' models of one or more legs were built in the world. Unfortunately not in series !
Various reasons refer to heaviness, complexity and price, slowness, due among other, to the inertia of the legs, but mostly it is far from ibex on mountain slopes. Most of these human made walkers need a flat and hard floor. Some, presented here, are still able to overcome an obstacle, but it's not so easy : their detection system does not always collect 3D terrain information and the control system cannot drive all movements of the joints smooth. The most advanced of them, from Plustech Oy of John Deere & Company, the world's known Plustech Walking Harvester, now at Museum of Lusto, Finland, probably could not outclass its wheeled or tracked counterparts.
Let us set aside for a moment walking machines and open a parenthesis to indicate the difficulty of manufacturers of wheeled or tracked off-road vehicles (such as Foremost) to sell their magnificent specialized vehicles for oil industry. The past decades, many companies have gone bankrupt or been acquired. The reasons are high price and expensive maintenance of these non-standard gears. Today, tankers have increasingly resorted to matting (for instance Strad Energy Services), kind of removable steel or wooden floor lay on the ground, allowing the use of more conventional vehicles.
In the military domain too, all-terrain vehicles are fairly standard and if they have any problem of mobility, preparing site, the engineering opens up new tracks.
Mention may also be made of the small 'rescue robots', used when searching in disasters, often competing in steeplechase racing of international 'Robocop', all equipped with wheels or tracks, not legs.