Historical trace and restoration of ancient Chinese walking machines

There were many ingenious mechanical inventions in ancient China. But, most achievements are hardly publicized and known to the world. This work introduces historical literature regarding ancient Chinese walking machines, especially the Wooden Horse Carriage of Lu Ban and the Wooden Ox and Gliding Horse of Zhu-ge Liang. The existence of these devices is discussed. The restorations of the walking machines in recent years are presented. And, a novel approach for the systematic generation of the lost designs is described. This provides some trace for the historical development of ancient Chinese walking machines.