MATLAB Simulation of Theo Jansen Mechanism

[Ranzabar]

Exactly. The upward offset of the crankshaft's center of rotation is critical to getting a long stride with the foot pad on the ground for the best period.

[abihinc]

lol ,very expensive

[ropewalkingelephant]

no worries, nice work!

[ropewalkingelephant]

hey i think something is off with your dimensions, also you haven't offset the axle (with the rotary arm) slightly higher than the fixed part of the leg, notice how the foot doesnt travel in a flat line along the ground?

[lengfenglee]

Thanks for the comment. The mechanism simulate here doesn't use the exact dimension of that Theo Jansen Mechanism. The purpose of the simulation is to show that: with this tool available, we can study the effect of changing the length of any link of the mechanism, and study its effect on the end-effector trajectory - the so called 'parametric study'. With this, you can quickly adjust one of the link length and immediately see how the trajectory change. Thanks for the comment.

[greenknight4]

Can you share the .m file?

[lengfenglee]

greenknight4, please send me an email (see my website for email) with your detail.