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Optimizing the Jansen Linkage

 

Still tweaking my optimizer for Jansen (Klann) walking linkages. I started posting some of the more promising optimizations at http://boim.com/Jansen/Favorites

Flat, optimized Jansen Linkage

I have yet to see a similar site offering alternate dimensions for a useful Jansen Linkage. These linkages were tweaked to spread the legs out for more stability, while trying to maintain a fairly constant walking speed, flat step, high active cycle, and decent step height.

 

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Wow, looking good. That is probably the flattest bottom on the walk cycle that I've seen. Can you get away with 4 legs with these dimensions and still have two legs in contact with the ground at all times (50% duty cycle/leg)? Or is it just a better idea for stabilities sake to go with a tripod gait? I'm referring to a minimalist situation, of course. I've seen Theo Jansens' "Strandbeest" with 12 legs or more. Nice work so far.

 

I don't know if it helps, but Theo acutally posted the dimensions for all of the rods in his Strandbeest here:

(The dimensions are given in the bottom right after the interesting story of the algorithm that discovered them)

http://www.strandbeest.com/beests_leg.php

 

At the very least you could compare notes and maybe sort out the collapsing knee if you haven't already :)