My Four-Legs Walking-Machine

other walking machines on this page : Laufmaschine - Mokken
Laufmaschine GMU - Walking Robot 2 - Translucid
3D Printed - Quad Walker - Straabeest - Links

THE STORY

After seeing Theo Jansen mechanism on YouTube I wanted to do my own walking machine. In fact it was an old dream that dates back to the time I was 13 years old when I saw the Empire Strikes Back. That's why I wanted to do a four legs walking machine with a synchronisation mechanism for the legs.

My model never walked, it has no motor, so I made this step by step animation to show the synchronisation mechanism and posted it on YouTube in may 2008.

You can contact me here : studerdom@bluewin.ch




Walking Machine animated gif Wooden Gears
Walking Machine
Walking Machine
Walking Machine
Walking Machine
Walking Machine

Possible modifications

Animated Gears

Dimensions

Leg Simulation
by Mr Hamed
Alemansoor

OTHER 4 LEGS WALKING MACHINES



December 2008  -   LAUFMASCHINE - A German walker using the same leg synchronisation mechanism.
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木犬 MOKKEN ( Wooden Dog ) - A Japanese walker made by Mr. Murayama Yuki.

Mr Yuki Murayama, student of Tokyo institute of technology sent me some pictures and movies fom his walker "Mokken".

It has one motor, it uses Geneva stop mechanism and Chebyshev linkage.

Geneva Stop

click for an animated version

Wooden Dog

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June 2010  -   WALKING MACHINE GASTER und FRANK - Another german walker using the same leg synchronisation mechanism.
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September 2010  -   WALKING ROBOT 2 - with gears outside
Dominique,

Here's a link to my walking robot based on your design. I incorporated your modifications (moving the gears to the outside, etc.) and they work fine. It's laser cut from 3mm acrylic.

Dave West

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December 2010  -   Theo Jansen Walking Machine - Visoka Tehnicka Skola Bjelovar
A very nice model with translucid gears from Croatia.

I found this video on YouTube.

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May 2014  -   3D PRINTED Walking Machine   -  with gears outside
Hi there,

I came across your webpage about your 4 leg walking machine some time ago and was very impressed with the clever mechanism. I remembered about it when I finished building my 3D printer and thought it would make a good first project for it. I attach a photo and video which might interest you. I put the gears on the outside of the frame as you suggested, which makes the build much simpler. The information that you provided on your webpage was very clear and most useful, thank you!

Kind regards

Dougal Laidlaw

click to enlarge



3D PRINTER FILES

Dougal kindely provided me with the files to print his walker :
3D_PRINTED_WALKER.zip (1.4 MB)

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August 2014  -   QUAD-WALKER - with modified legs
A very nice model with modified legs.

I found this video on YouTube.

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September 2014  -   STRAATBEEST   -  with non circular gears
" Dear Dominique,

You have a nice website with things that are very interesting.
What do you think of:
http://youtu.be/IDok0M5is9Q

Next step is build one with a motor.

kind regards,

Ad Lakerveld "


Other interesting videos on Youtube:
First steps.
Walking linkage with non-circulair gears.
Theo Jansen mechanism, version Ad Lakerveld

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LINKS

I did some research on the web and find many intersting links :

- Theo Jansen Website : www.strandbeest.com

- A.J. Ingram, "A new type of mechanical walking machine", Rand Afrikaans University, 2004.
The pdf can be downloaded here

- A.J. Ingram, Numerical kinematic and kinetic analysis of a new class of twelve bar linkage for walking machines : here.

- Chih-Ching Hung, "On the Mechanism Design of A Hybrid 8-link Type Walking Horse", Taiwan, 2001.
The pdf can be downloaded here.

- Kao-Chu Chiang, "A Reconstruction Design of Lu-Ban's Wooden Horse Carriage with 10-bar Linkages", National Cheng Ku University, Taiwan, 2005.
The pdf can be downloaded here.

- Theo Jansen legs dimensions can be found here or here.

- A simulator where you can test your own proportions for the linkages is on mekanizmalar.
Just change the red and yellow bars to 129.72 and 279.11 .

-A very useful tool : Gear Template Generator.

- Theo Jansen creations, made with LEGO on TechnicBRICKs

- My Youtube Videos : 4 Legs Walking Machine and Variable Speed Gears.


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© Dominique Studer - 2014