My Four-Legs Walking-Machine

other walking machines on this page : Laufmaschine - Mokken - Laufmaschine GMU - Walking Robot 2 - Links

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

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.

You can contact me here : studerdom@bluewin.ch




OTHER 4 LEGS WALKING MACHINES



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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WALKING MACHINE GASTER und FRANK - Another german walker using the same leg synchronisation mechanism.
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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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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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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 - 2010