Let's Make Robots!

Theo Jansen Walker

I'm starting work on a Theo Jansen linkage walker.  I'm keeping a copy of my project notes here

My prototype has a vulnerability with the knee collapsing toward the fixed center node. Has anybody else experienced this? Any suggestions? I have code for solving linkage geometry, plotting, and .scad models for prototype 3d-printed linkages.

Here is an animation of one side of my proposed 8-leg walker, animation of Jansen trotting motion

The site linked above has source code and cad drawings.

Here is the initial drawing I did, when I built a prototype in popsicle sticks:

to scale drawing of Jansen Linkages