 Ramba uchiverenga ndima ino - Mufananidzo wokutanga wemakumbo anonzi Plantigrade Machine wakanyorwa naPafnuty Chebyshev wakaratidzwa paExposition Universelle 1878. Mifananidzo yepakutanga yeiyi nzira yemakumbo inowanikwa. Magadzirirwo etsoka dzeOhio State Adaptive Suspension Vehicle ASV anotaurwa mubhuku ra1988 rinonzi Machines that Walk. Muna 1996, W. B. Shieh akaratidza nzira yokugadzira nayo makumbo. 