4 legs walking machine

more info on : http://www.armure.ch/WALKING.htm

This is my prototype of a 4 legs walking machine using a modified "Theo Jansen leg mechanism".
Six non-regular gears control the speed of the legs to make only one leg being off the ground at the time.
This is a stop motion movie, I didn't add the motor but I wanted to show it working.
The music is from Japanese TV drama "Galileo".
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Plus d'infos sur : http://www.armure.ch/WALKING.htm

Ceci est mon prototype d'un automate marcheur quadrupède avec une version modifiée du méchanisme de pattes mis au point par Theo Jansen.
Six roues dentées irrégulières contrôlent la vitesse des pattes de sorte qu'il n'y en ait que une qui ne soit pas en contact avec le sol.
J'ai fait ce film image par image. Je n'ai pas mis de moteur, mais je voulais pouvoir en montrer le fonctionnement.
La musique est de la série TV japonaise "Galileo".

Category:

Science & Technology

Tags:

• walking
• machine
• Theo
• Jansen
• legs
• robot
• animation

[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).

[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.

[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]

@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!

[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.

[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.