Walking machines for operation on non-cohesive and water-saturated soils Yaroslav Kalinin, Vadim Chernyshev, Mihail Vetlitsyn, Maxim Babaev and Vladimir Arykantsev E3S Web Conf., 480 (2024) 02017 Published online: 18 January 2024 DOI: 10.1051/e3sconf/202448002017