4 legs walking machine

[KaylaAnimatronics]

This is an amazing piece of machinery. I am using a variation on the one on your website, this was a great inspiration to help get my animatronic dragon walking. Thank-you so much for posting this.

[Robonza]

You have done an incredible job of your machine and the web pages are wonderful. You are in inspiration.

I think I will have a go at making one that turns.

[AForkSpoon]

Its sexy......

[SunriseAt2008]

This is great! I was searching for a 4 legged version. I want to make one as well but found it rather intense to make 2x6 legs for a first version. Also thank you for sharing all your research. I am wondering why you choose a speed changing gear? Has it to do with the fact that the dimensions are different from Theo's so that you incorporated the speed change by the gear? Maybe you can explain this? Thank you :-) Looking forward to see your new version as well!

[stdrdm]

@SunriseAt2008 Thanks, the gears are here to make that there is only one leg off the ground, otherwise the machine would fall with only two legs on the ground. It has nothing to do with the dimensions of the legs that I use, you can use other linkages if you like (Klann linkage - in this case pay attention that the crank is turning backwards, then you should change the disposition of the gears).

[SunriseAt2008]

@stdrdm Oh, I see now. That's a very interesting idea you added to the walking mechanism, in that way it's more stable when it walks. I wonder if it can carry some load (like 200 grams for a µprocessor's board and some battery & sensor) if it's resting on 3 legs? Maybe I should do some simulation but like you version so much I want to start building one ;-) I think it walks very smooth for a 4 legged creature, nice job!

[anisalvaje]

did you use balsa wood as a material???

[stdrdm]

@anisalvaje No, I used 10 mm plywood and 20 x 10 mm section hardwood (beech) for the legs . The gears are 18 mm plywood, the parts maintaining the chassis are 20 x 40 mm section hardwood and the chassis is 10 mm plywood.

[KoenFleurman]

cool!!! do you have some buildingplan ? thanks

[stdrdm]

@KoenFleurman I published everything that could help on my website (see video description), but you should adapt it to the size of your motor.

[nerosboy]

My, such dainty little steps

[MSESGUNDAM]

It walks like the Star Wars AT-AT the AT-AT turned it used a hidden joint under the belly where the leggs conected to the body

[kryptonite3114]

It moves like a burlesque dancer

[ehallstr]

If you used four electric engines to drive the four legs and a computer chip to control the change in speed I guess you wouldnt need the gears. And it would make it possible to turn the machine!

[stdrdm]

@ehallstr I'm certain it is possible to make the machine turn... and I think it would be more fun to build a mechanism to do that instead of putting servos and electronic everywhere.

[ehallstr]

@stdrdm Yes, you'r right, I am also trying to think of a way to make it turn, not that easy. Tell me if you can figure it out :) If you want :P. How stable is it on three legs? Maybe it would be more stable if you put feets on it. I am thinking of building a walking bike with your gear mechanism.

[stdrdm]

@ehallstr I think of 3 differents ways to make it turn...basically :

1) articulation in the center.

2) each leg could turn.

3) each leg does lateral movement in synch and with variable amplitude (I know it seems not clear).

Stability : in fact the center of gravity of the model changing with the movement of legs it is someting I didn't study at all. But it seems that the center of gravity is always on the limit of the triangle formed by the three feets making the machine unstable.

[hihi1043]

@stdrdm or you could make it side step with a joint of some sort

[stdrdm]

@hihi1043 Yes, I thinked about a Universal Joint (aka Cardan).

"The Cardan joint suffers from one major problem: even when the input drive shaft axle rotates at a constant speed, the output drive shaft axle rotates at a variable speed" (Wikipedia).... I don't know if it will affect the model or not.

[JemmetGK]

Yes, your stop-motion animation is really pretty good. Almost go-motion quality.

I'll look forward to a working mechanism.

[knowslumber]

@JemmetGK 

[gussdeblod]

nicely done Dom ^^ :p

[vulkein]

what song is that?

[stdrdm]

@vulkein

The song is called Tantei Galileo

It's from the Japanese TV drama "Galileo" Original Soundtrack

[mariamattsson1]

Theo Jansens invent !

[QuaziGNRLNose]

how did you cut out everything? your gears and parts are awesomely precise from what ive seen on your webpage! and

[stdrdm]

All the job was done with gears template generator-paint-a drill-a bandsaw-files and sandpaper...(no CNC router)

...the precise calculations are here because someone asked me

[tricky778]

Can you post another video when you get it to work? The stop-motion demo is nice and all but I'd love to see it working for real.

[stdrdm]

I'll probably do another model (with a motor this time) ... but not this year.

I found another way to do the mechanism, It is still under developpement.

[vwontheautobahn]

Ahh damn that was awesome, I enjoyed the music too =)

[ThePoisonYouth]

lol this has an edward scissor-hands feel to it... It's so smooth and life-like! Freaking awesome... can't wait till I finish my magnetic engine... :D

[ItsaUFOduh]

very impressive work, especially how you found a use for those atypical "speed changing" gears.

[Rechts8ung]

Hallo, sehr schönes Modell. Würde die Maschine real in diesem Tempo angetrieben werden, würde das Trägheitsmoment des sich hebenden Beines, dafür sorgen, dass die Maschine zu diesem Bein kippt. Der Lauf wirkt dann weniger Elegant als im Film zu sehen. Ich musste trotz absoluter Balance meiner Laufmaschine einen nickenden "Kopf" hinzufügen um diesen Effekt einigermaßen auszugleichen.

[stdrdm]

Genau, es gibt ein problem wenn das hintern Bein aus dem Boden sich aufzuhebt, weil das vordern Bein ist viel zu vorn.

Exactly, there is a problem when the rear leg quits the ground, because the front leg is far too front.

By the way...your walker is the best !

[Rechts8ung]

No its not the best. Your walker inspired me. I just copied it and added a motor.

[stirlingsteamboy08]

looks spooky pointed legs and the music box its creeping me out like somthing out of a horror film

[ehall007]

WOW! This is the best theo jansen creature with 4 legs i have seen!!! It works perfectly smooth. Great job!

[radrox895]

thats cuz its stop motion dumbass.. lol

[Energermany]

I like this, but i cant understand, what the parts of the gears are good for?

Can you show it from the top, or is it a secret?

Your connections are nice too.

Best regards Stefan

[stdrdm]

The gears ensure the coordination of legs.

A sort of mechanic programmation that make only one leg being off the ground at the time.

You can see them if you click the link (more info --> link)

[Energermany]

thank you from a blind one :o)

[Debestmax]

creepy

[TheGuyAlwaysOnTime]

you made Frankenstein! It looks at if it were alive! Love it 5/5 =D

[rhysfawr4]

Interesting use of that gearing system. If not in 'stop motion', let's say using an electric motor driving the gears at a constant rate, would the walker increase its 'gait' speed momentarily, then slow down, or would it walk at a constant speed?

[stdrdm]

I suppose it would walk at constant speed (I didn't make a very precise animation). It would be great to calculate the speed of the legs at their point of contact with the ground to see if any fine adjustment of the gears would be required. Especially if you want no stress in the structure. But I'm far from that.

[MarbleMad]

NICE!

the stop motion and creepy music box music gives it quite a spooky feel too. I love that. Reminds me of the Brothers Quay.