MATLAB Simulation of Theo Jansen Mechanism

The Theo Jansen Mechanism is simply a genius combination of a Four-bar mechanism (Crank-Rocker) with a another four-bar mechanism (use a four-bar with equivalent length here) that create a motion similar to gait motion at the end-effector.

Search 'Theo Jansen Mechanism' and you can find a lot more movies about this mechanism.

Also, see another simulation of this mechanism I made:
"Theo Jansen Mechanism Kinematic Analysis"
http://www.youtube.com/watch?v=Q8gUvwM89A8

Note: Please rate my video and send me an email if you have any questions. Thanks! =)

For more information, visit:
http://www.eng.buffalo.edu/~llee3/
http://mechatronics.eng.buffalo.edu/

Category:

Education

Tags:

• MATLAB
• theo
• jansen
• Mechanism
• Simulation
• Fourbar
• Kinematics
• Walking
• Design
• Biped
• Bio-Inspired
• Locomotion

[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.

[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!